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 14:e614697ebf34, committed 2016-02-09
- Comitter:
- Davidroid
- Date:
- Tue Feb 09 16:01:30 2016 +0000
- Parent:
- 13:25a579b9b7c3
- Child:
- 15:31785d1acd4b
- Commit message:
- + Updated with the new template's syntax.
Changed in this revision
--- a/BSP/x_nucleo_ihm02a1_class.cpp Tue Jan 19 16:07:00 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.cpp Tue Feb 09 16:01:30 2016 +0000
@@ -43,12 +43,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here expansion board specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "x_nucleo_ihm02a1_class.h"
@@ -70,7 +70,7 @@
* @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(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
@@ -86,8 +86,8 @@
* Instantiate here the expansion board's components. *
* *
* Example: *
- * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
- * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(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);
@@ -111,7 +111,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
-X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+X_NUCLEO_IHM02A1::X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
{
/* Checking stackability. */
if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX))
@@ -126,8 +126,8 @@
* Instantiate here the expansion board's components. *
* *
* Example: *
- * component_1 = new COMPONENT_1(COMPONENT_1_SPI_SSEL, *dev_spi); *
- * component_2 = new COMPONENT_2(COMPONENT_2_SPI_SSEL, *dev_spi); *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(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);
@@ -173,7 +173,7 @@
* } *
* *
* // Configuration. *
- * INTERFACE_InitTypeDef InitStructure; *
+ * COMPONENT_Init_t InitStructure; *
* InitStructure.Property_1 = COMPONENT_1_PROPERY_1_INIT; *
* InitStructure.Property_N = COMPONENT_1_PROPERY_N_INIT; *
* *
@@ -204,7 +204,7 @@
bool X_NUCLEO_IHM02A1::Init_L6470_1(void)
{
/* Initialization. */
- if (l6470_1->Init((void *) init_components[0]) != COMPONENT_OK)
+ if (l6470_1->Init((void *) init_components[1]) != COMPONENT_OK)
return false;
return true;
--- a/BSP/x_nucleo_ihm02a1_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/BSP/x_nucleo_ihm02a1_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -49,12 +49,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
- * Include here expansion board specific header files. *
- *----------------------------------------------------------------------------*/
+ * Include here expansion board configuration's header files. *
+ *----------------------------------------------------------------------------*/
#include "x_nucleo_ihm02a1_config.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here expansion board's components' header files. *
@@ -86,7 +86,7 @@
* @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(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+ X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
/**
* @brief Constructor.
@@ -100,7 +100,7 @@
* @param miso pin name of the MISO pin of the SPI device to be used for communication.
* @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
*/
- X_NUCLEO_IHM02A1(L6470_InitTypeDef *init_0, L6470_InitTypeDef *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+ X_NUCLEO_IHM02A1(L6470_Init_t *init_0, L6470_Init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
/**
* @brief Destructor.
@@ -198,7 +198,7 @@
L6470 *components[L6470DAISYCHAINSIZE];
/* Components' initialization. */
- L6470_InitTypeDef *init_components[L6470DAISYCHAINSIZE];
+ L6470_Init_t *init_components[L6470DAISYCHAINSIZE];
/* Results of prepared actions. */
uint32_t results[L6470DAISYCHAINSIZE];
@@ -218,6 +218,6 @@
static uint8_t number_of_boards;
};
-#endif // __X_NUCLEO_IHM02A1_CLASS_H
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/BSP/x_nucleo_ihm02a1_config.h Tue Jan 19 16:07:00 2016 +0000 +++ b/BSP/x_nucleo_ihm02a1_config.h Tue Feb 09 16:01:30 2016 +0000 @@ -39,7 +39,7 @@ /* Generated with Stm32CubeTOO -----------------------------------------------*/ -/* Define to prevent from recursive inclusion --------------------------------*/ +/* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __X_NUCLEO_IHM02A1_CONFIG_H #define __X_NUCLEO_IHM02A1_CONFIG_H @@ -78,4 +78,4 @@ /* Maximum number of mounted "X-NUCLEO-IHM02A1" Expansion Boards. */ #define EXPBRD_MOUNTED_NR_MAX (4) -#endif // __X_NUCLEO_IHM02A1_CONFIG_H \ No newline at end of file +#endif /* __X_NUCLEO_IHM02A1_CONFIG_H */ \ No newline at end of file
--- a/Components/Common/component.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Common/component.h Tue Feb 09 16:01:30 2016 +0000
@@ -37,10 +37,10 @@
*/
-/* Prevent recursive inclusion -----------------------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __COMPONENT_H__
-#define __COMPONENT_H__
+#ifndef __COMPONENT_H
+#define __COMPONENT_H
/* Types ---------------------------------------------------------------------*/
@@ -75,7 +75,7 @@
/* -----------------------------------------------------------------------*/
/* Pointer to the Extended Virtual Table. */
void *pExtVTable;
-} DrvContextTypeDef;
+} Handle_t;
/**
* @brief Component's Status enumerator definition.
@@ -86,6 +86,8 @@
COMPONENT_ERROR,
COMPONENT_TIMEOUT,
COMPONENT_NOT_IMPLEMENTED
-} DrvStatusTypeDef;
+} Status_t;
-#endif
\ No newline at end of file
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/Common/microstepping_motor.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Common/microstepping_motor.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,42 +1,44 @@
/**
- ******************************************************************************
- * @file microstepping_motor.h
- * @author IPD SYSTEM LAB & TECH MKTG
- * @version V0.0.1
- * @date 04-June-2015
- * @brief This file contains all the functions prototypes for the microstepping
- * motor driver with motion engine.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file microstepping_motor.h
+ * @author IPD SYSTEM LAB & TECH MKTG
+ * @version V0.0.1
+ * @date 04-June-2015
+ * @brief This file contains all the functions prototypes for the microstepping
+ * motor driver with motion engine.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
/* Define to prevent recursive inclusion -------------------------------------*/
+
#ifndef __MICROSTEPPINGMOTOR_H
#define __MICROSTEPPINGMOTOR_H
@@ -44,10 +46,15 @@
extern "C" {
#endif
+
/* Includes ------------------------------------------------------------------*/
+
#include <stdint.h>
#include "component.h"
+
+/* Types ---------------------------------------------------------------------*/
+
/** @addtogroup BSP
* @{
*/
@@ -92,7 +99,7 @@
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;
/**
@@ -305,9 +312,9 @@
uint16_t STATUS; //!< Status Register
} StepperMotorRegister_t;
-/**
- * @brief Stepper Motor Driver Structure
- */
+/**
+ * @brief MICROSTEPPING_MOTOR driver virtual table structure definition.
+ */
typedef struct
{
/* ACTION ----------------------------------------------------------------*
@@ -319,12 +326,12 @@
* specified exactly in the given way. *
* *
* Example: *
- * DrvStatusTypeDef (*Init)(void *handle, void *init); *
- * DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id); *
+ * Status_t (*Init) (void *handle, void *init); *
+ * Status_t (*ReadID) (void *handle, uint8_t *id); *
*------------------------------------------------------------------------*/
/* Generic */
- DrvStatusTypeDef (*Init)(void *handle, void *init);
- DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
+ Status_t (*Init)(void *handle, void *init);
+ Status_t (*ReadID)(void *handle, uint8_t *id);
/* ACTION ----------------------------------------------------------------*
* Declare here the component's specific functions. *
@@ -332,7 +339,7 @@
* Do not specify any function if not required. *
* *
* Example: *
- * DrvStatusTypeDef (*GetValue)(void *handle, float *pfData); *
+ * Status_t (*GetValue) (void *handle, float *f); *
*------------------------------------------------------------------------*/
/* Specific */
void (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
@@ -400,7 +407,8 @@
uint8_t (*mA_2_OcdTh)(void *handle, float mA);
float (*StallTh_2_mA)(void *handle, uint8_t StallTh);
uint8_t (*mA_2_StallTh)(void *handle, float mA);
-} MICROSTEPPING_MOTOR_DrvVTableTypeDef;
+ uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+} MICROSTEPPING_MOTOR_VTable_t;
/**
* @brief Stepper Motor Board Driver Structure
@@ -427,7 +435,7 @@
uint16_t (*GetStatus)(uint8_t, uint8_t);
uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
-} MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
+} MICROSTEPPING_MOTOR_EB_VTable_t;
/**
* @brief Stepper Motor Handle Structure
@@ -435,7 +443,8 @@
typedef struct __StepperMotorDriver_HandleTypeDef
{
uint8_t DaisyChainPosition;
- MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_VTable_t *Command;
} StepperMotorDriverHandle_t;
/**
@@ -444,7 +453,8 @@
typedef struct __StepperMotorBoard_HandleTypeDef
{
uint8_t StackedPosition;
- MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_EB_VTable_t *Command;
StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
uint8_t (*Select)(uint8_t);
} StepperMotorBoardHandle_t;
--- a/Components/Interfaces/Component_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/Interfaces/Component_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,7 +1,7 @@
/**
******************************************************************************
* @file Component_class.h
- * @author Davide Aliprandi, STMicroelectronics
+ * @author AST
* @version V1.0.0
* @date April 13th, 2015
* @brief This file contains the abstract class describing the interface of a
@@ -37,7 +37,7 @@
*/
-/* Define to prevent from recursive inclusion --------------------------------*/
+/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __COMPONENT_CLASS_H
#define __COMPONENT_CLASS_H
@@ -56,20 +56,20 @@
{
public:
/**
- * @brief Initializing the component.
- * @param init Pointer to device specific initalization structure.
- * @retval "0" in case of success, an error code otherwise.
+ * @brief Initializing the component.
+ * @param[in] init pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
*/
virtual int Init(void *init) = 0;
/**
- * @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.
+ * @brief Getting the ID of the component.
+ * @param[out] 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;
};
#endif /* __COMPONENT_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/l6470/l6470.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470.h Tue Feb 09 16:01:30 2016 +0000
@@ -1,39 +1,41 @@
/**
- ******************************************************************************
- * @file L6470.h
- * @date 01/10/2014 12:00:00
- * @brief This file contains definitions, exported variables and function
- * prototypes related to the L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file L6470.h
+ * @date 01/10/2014 12:00:00
+ * @brief This file contains definitions, exported variables and function
+ * prototypes related to the L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
/* Define to prevent recursive inclusion -------------------------------------*/
+
#ifndef __L6470_H
#define __L6470_H
@@ -41,9 +43,86 @@
extern "C" {
#endif
+
/* Includes ------------------------------------------------------------------*/
+
#include "microstepping_motor.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Exported_Constants
+ * @brief L6470 Exported Constants.
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Register_Max_Values
+ * @brief Maximum values for L6470 registers.
+ * @{
+ */
+
+#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
+#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
+#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
+#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
+#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
+#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
+#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
+
+/**
+ * @}
+ */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
+
+
+/* Types ---------------------------------------------------------------------*/
+
/**
* @addtogroup BSP
* @{
@@ -119,63 +198,20 @@
* @}
*/ /* End of L6470_Exported_Types */
-/**
- * @defgroup L6470_Exported_Constants
- * @brief L6470 Exported Constants.
- * @{
- */
-
-/**
- * @defgroup L6470_Register_Max_Values
- * @brief Maximum values for L6470 registers.
- * @{
- */
-
-#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
-#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
-#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
-#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
-#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
-#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
-#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
-#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
-#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
-#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
-#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
-#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
-#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
-#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
-#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
-
-/**
- * @}
- */ /* End of L6470_Register_Max_Values */
-
-#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
-#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
-#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
-#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
-#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
-#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
-
-#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
-#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
-
-#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
-#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
-
-#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
-#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
-#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
-#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
-#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
-
-
/**
- * @brief L6470 driver initialization structure definition.
- */
+ * @brief L6470 driver initialization structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the component's initialization structure, if any, one *
+ * variable per line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int frequency; *
+ * int update_mode; *
+ * } COMPONENT_Init_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
float motorvoltage; //!< motor supply voltage in V
@@ -202,11 +238,11 @@
uint8_t step_sel; //!< step mode selection
uint8_t alarmen; //!< alarm conditions enable
uint16_t config; //!< ic configuration
-} L6470_InitTypeDef;
+} L6470_Init_t;
/**
- * @brief L6470 driver data structure definition.
- */
+ * @brief L6470 driver data structure definition.
+ */
/* ACTION --------------------------------------------------------------------*
* Declare here the structure of component's data, if any, one variable per *
* line without initialization. *
@@ -218,8 +254,8 @@
* int T1_out; *
* float T0_degC; *
* float T1_degC; *
- * } COMPONENT_DrvDataTypeDef; *
- * ---------------------------------------------------------------------------*/
+ * } COMPONENT_Data_t; *
+ *----------------------------------------------------------------------------*/
typedef struct
{
uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
@@ -233,7 +269,7 @@
eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
-} L6470_DrvDataTypeDef;
+} L6470_Data_t;
/* Functions -----------------------------------------------------------------*/
@@ -250,15 +286,19 @@
* @{
*/
-/** @defgroup L6470_IO_Functions L6470_IO_Functions
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
* @{
*/
+
/* ACTION --------------------------------------------------------------------*
- * Declare here extern I/O functions you need and implemented them in a glue *
- * logic file on the target environment, for example within the expansion *
- * board "*.c" file. E.g.: *
- * extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
- * extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
+ * interrupt related functions), and implement them in a glue-logic file on *
+ * the target environment, for example within the "x_nucleo_board.c" file. *
+ * E.g.: *
+ * extern Status_t COMPONENT_IO_Init (void *handle); *
+ * extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
+ * extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * extern void COMPONENT_IO_ITConfig(void); *
*----------------------------------------------------------------------------*/
extern void L6470_DISABLE(void);
extern void L6470_ENABLE(void);
@@ -266,22 +306,6 @@
extern void L6470_nCS_HIGH(void);
extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
-/**
- * @}
- */ /* End of L6470_Exported_Variables */
-
-/**
- * @}
- */ /* End of L6470 */
-
-/**
- * @}
- */ /* End of Components */
-
-/**
- * @}
- */ /* End of BSP */
-
#ifdef __cplusplus
}
#endif
--- a/Components/l6470/l6470_class.cpp Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470_class.cpp Tue Feb 09 16:01:30 2016 +0000
@@ -1,37 +1,37 @@
/**
- ******************************************************************************
- * @file l6470_class.cpp
- * @date 01/10/2014 12:00:00
- * @brief This file provides set of firmware functions to manage the
- * L6470.
- ******************************************************************************
- *
- * COPYRIGHT(c) 2014 STMicroelectronics
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
+ ******************************************************************************
+ * @file l6470_class.cpp
+ * @date 01/10/2014 12:00:00
+ * @brief This file provides set of firmware functions to manage the
+ * L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
/* Generated with Stm32CubeTOO -----------------------------------------------*/
@@ -52,66 +52,7 @@
#include "l6470.h"
-/* Methods -------------------------------------------------------------------*/
-
-/**
- * @defgroup L6470_Conversion_Functions
- * @brief The following functions act just on one driver inside the L6470
- * daisy chain. The command is immediately sent.
- * @{
- */
-
-/* End of L6470_Conversion_Functions */
-
-/**
- * @defgroup L6470_AppCMDs
- * @brief The following functions act just on one driver inside the L6470
- * daisy chain. The command is immediately sent.
- * @{
- */
-
-/* End of L6470_AppCMDs */
-
-/**
- * @defgroup L6470_AppCMDs_ToBePrepared
- * @brief The following functions act just on one driver inside the L6470 daisy
- * chain. The command is prepared and not sent. To send the application
- * commands already prepared for the addressed L6470 drivers you have to
- * use @ref L6470_PerformPreparedApplicationCommand.
- * @{
- */
-
-/* End of L6470_AppCMDs_ToBePrepared */
-
-/**
- * @defgroup L6470_Private_Functions
- * @brief L6470 Private Functions.
- * @{
- */
-
-/* End of L6470_Private_Functions */
-
-
-/**
- * @addtogroup BSP
- * @{
- */
-
-/**
- * @addtogroup Components
- * @{
- */
-
-/**
- * @addtogroup L6470
- * @{
- */
-
-/**
- * @defgroup L6470_Private_Constants
- * @brief L6470 Private Constants.
- * @{
- */
+/* Variables -----------------------------------------------------------------*/
/* Number of instantiated devices on an expansion board. */
uint8_t L6470::number_of_devices = 0;
@@ -214,6 +155,9 @@
* @{
*/
+
+/* Methods -------------------------------------------------------------------*/
+
/**
* @brief Reset the structure used to store the identifier of the L6470
* application command and its the needed parameters.
@@ -1071,7 +1015,7 @@
*/
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);
}
/**
@@ -1087,7 +1031,7 @@
*/
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);
}
/**
@@ -1445,7 +1389,7 @@
* @brief Configures the L6470 registers.
* @param init The pointer to the initialization structure.
*/
-DrvStatusTypeDef L6470::L6470_Config(void *init)
+Status_t L6470::L6470_Config(void *init)
{
/* Disable the L6470. */
L6470_DISABLE();
@@ -1460,7 +1404,7 @@
GetStatus();
/* Prepare the 'Register' field of StepperMotorDriverHandle */
- L6470_InitTypeDef *MotorParameterData = (L6470_InitTypeDef *) init;
+ L6470_Init_t *MotorParameterData = (L6470_Init_t *) init;
StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
--- a/Components/l6470/l6470_class.h Tue Jan 19 16:07:00 2016 +0000
+++ b/Components/l6470/l6470_class.h Tue Feb 09 16:01:30 2016 +0000
@@ -57,12 +57,12 @@
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here component specific header files. *
- *----------------------------------------------------------------------------*/
+ *----------------------------------------------------------------------------*/
#include "l6470.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here interface specific header files. *
@@ -76,7 +76,8 @@
/* Classes -------------------------------------------------------------------*/
-/** Class representing a L6470 component.
+/**
+ * @brief Class representing a L6470 component.
*/
class L6470 : public StepperMotor
{
@@ -153,9 +154,9 @@
* table's functions, if any (2). *
* *
* Example: *
- * virtual int GetValue(float *pData) //(1) *
+ * virtual int GetValue(float *f) //(1) *
* { *
- * return COMPONENT_GetValue(float *pfData); *
+ * return COMPONENT_GetValue(float *f); *
* } *
* *
* virtual int EnableFeature(void) //(2) *
@@ -1054,11 +1055,11 @@
* Implement here interrupt related methods, if any. *
* Note that interrupt handling is platform dependent, e.g.: *
* + mbed: *
- * InterruptIn feature_irq(pin); //Interrupt object. *
- * feature_irq.rise(callback); //Attach a callback. *
- * feature_irq.mode(PullNone); //Set interrupt mode. *
- * feature_irq.enable_irq(); //Enable interrupt. *
- * feature_irq.disable_irq(); //Disable interrupt. *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.fall(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
* + Arduino: *
* attachInterrupt(pin, callback, RISING); //Attach a callback. *
* detachInterrupt(pin); //Detach a callback. *
@@ -1066,7 +1067,7 @@
* Example (mbed): *
* void AttachFeatureIRQ(void (*fptr) (void)) *
* { *
- * feature_irq.rise(fptr); *
+ * feature_irq.fall(fptr); *
* } *
* *
* void EnableFeatureIRQ(void) *
@@ -1155,9 +1156,9 @@
* source files but not pointed by the component's virtual table (3). *
* *
* Example: *
- * DrvStatusTypeDef COMPONENT_GetValue(float* pfData); //(1) *
- * DrvStatusTypeDef COMPONENT_EnableFeature(void); //(2) *
- * DrvStatusTypeDef COMPONENT_ComputeAverage(void); //(3) *
+ * Status_t COMPONENT_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(void); //(3) *
*------------------------------------------------------------------------*/
int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
uint32_t L6470_Position_2_AbsPos(int32_t Position);
@@ -1185,7 +1186,7 @@
uint8_t L6470_mA_2_OcdTh(float mA);
float L6470_StallTh_2_mA(uint8_t StallTh);
uint8_t L6470_mA_2_StallTh(float mA);
- DrvStatusTypeDef L6470_Config(void *init);
+ Status_t L6470_Config(void *init);
void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
@@ -1254,7 +1255,7 @@
* @param[in] NumBytesToRead number of bytes to read.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
{
if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
return COMPONENT_ERROR;
@@ -1267,7 +1268,7 @@
* @param[in] NumBytesToWrite number of bytes to write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
{
if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
return COMPONENT_ERROR;
@@ -1281,7 +1282,7 @@
* @param[in] NumBytes number of bytes to read and write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
- DrvStatusTypeDef ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
{
if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
return COMPONENT_ERROR;
@@ -1398,6 +1399,6 @@
static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
};
-#endif // __L6470_CLASS_H
+#endif /* __L6470_CLASS_H */
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
X-NUCLEO-IHM02A1 Two Axis Stepper Motor Driver