ST
/
X_NUCLEO_IHM03A1
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Dependents: IHM03A1_ExampleFor1Motor HelloWorld_IHM03A1 IHM03A1_ExampleFor3Motors KYPHOS_Stepper_Motor_Control
Fork of
X_NUCLEO_IHM03A1
by 
ST Expansion SW Team
Motor Control Library
Library to handle the X-NUCLEO-IHM03A1 Motor Control Expansion Board based on the Powerstep01 component.
It features the:
- read and write of Powerstep01 registers
- Nucleo and expansion board configuration (GPIOs, PWMs, IRQs, etc.)
- Powerstep01 application commands handling
- FLAG and BUSY interrupt handling (alarm reporting)
- Daisy chain handling
The API allows to easily:
- perform various positioning, moves and stops
- get/set or monitor the motor positions
- set home position and mark another position
- get/set minimum and maximum speed
- get current speed
- get/set acceleration and deceleration
- get/set the step mode (up to 1/128)
- get/set the control method
- get/set parameters for voltage mode driving
- get/set parameters for current mode driving
- get/set parameters for gate driving
- configure various protections such as overcurrent detection
- enable/disable alarms
- handle step-clock
- get system status
Daisy-Chain Configuration
The IHM03A1 board can be stacked up to three times so that the Powerstep01 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:
Platform compatibility
Compatible platforms have been tested with the default configuration provided by the HelloWorld_IHM03A1 example.
Diff: Components/powerstep01/powerstep01.h
- Revision:
- 4:f48e8d87553e
- Parent:
- 1:8ce2a5d6fbf8
--- a/Components/powerstep01/powerstep01.h Tue Sep 13 08:55:39 2016 +0000
+++ b/Components/powerstep01/powerstep01.h Fri Mar 24 10:58:48 2017 +0100
@@ -1,15 +1,15 @@
/**
******************************************************************************
- * @file powerstep01.h
- * @author IPC Rennes
- * @version V1.2.0
- * @date January 25th, 2016
- * @brief Header for Powerstep01 motor driver (Microstepping controller with power MOSFETs)
- * @note (C) COPYRIGHT 2016 STMicroelectronics
+ * @file PowerStep01.h
+ * @author IPC Rennes
+ * @version V1.0.1
+ * @date September 13th, 2016
+ * @brief This file contains the class of a Powerstep01 Motor Control component.
+ * @note (C) COPYRIGHT 2016 STMicroelectronics
******************************************************************************
* @attention
*
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
@@ -36,929 +36,1460 @@
******************************************************************************
*/
+
/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef _POWERSTEP01_H_INCLUDED
-#define _POWERSTEP01_H_INCLUDED
-#ifdef __cplusplus
- extern "C" {
-#endif
+#ifndef __POWERSTEP01_CLASS_H
+#define __POWERSTEP01_CLASS_H
+
/* Includes ------------------------------------------------------------------*/
-#include "powerstep01_target_config.h"
-#include "stdint.h"
-#include "motor.h"
-/* Definitions ---------------------------------------------------------------*/
-
-/** @addtogroup Components
- * @{
- */
-
-/** @defgroup POWERSTEP01 POWERSTEP01
- * @{
- */
-
-/** @defgroup Powerstep01_Exported_Defines Powerstep01_Exported_Defines
- * @{
- */
-/// Current FW major version
-#define POWERSTEP01_FW_MAJOR_VERSION (uint8_t)(1)
-/// Current FW minor version
-#define POWERSTEP01_FW_MINOR_VERSION (uint8_t)(2)
-/// Current FW patch version
-#define POWERSTEP01_FW_PATCH_VERSION (uint8_t)(0)
-/// Current FW version
-#define POWERSTEP01_FW_VERSION (uint32_t)((POWERSTEP01_FW_MAJOR_VERSION<<16)|\
- (POWERSTEP01_FW_MINOR_VERSION<<8)|\
- (POWERSTEP01_FW_PATCH_VERSION))
-
-/// Powerstep01 max number of bytes of command & arguments to set a parameter
-#define POWERSTEP01_CMD_ARG_MAX_NB_BYTES (4)
-
-/// Powerstep01 command + argument bytes number for NOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_NOP (1)
-/// Powerstep01 command + argument bytes number for RUN command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RUN (4)
-/// Powerstep01 command + argument bytes number for STEP_CLOCK command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_STEP_CLOCK (1)
-/// Powerstep01 command + argument bytes number for MOVE command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_MOVE (4)
-/// Powerstep01 command + argument bytes number for GO_TO command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_TO (4)
-/// Powerstep01 command + argument bytes number for GO_TO_DIR command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_TO_DIR (4)
-/// Powerstep01 command + argument bytes number for GO_UNTIL command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_UNTIL (4)
-/// Powerstep01 command + argument bytes number for RELEASE_SW command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RELEASE_SW (1)
-/// Powerstep01 command + argument bytes number for GO_HOME command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_HOME (1)
-/// Powerstep01 command + argument bytes number for GO_MARK command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GO_MARK (1)
-/// Powerstep01 command + argument bytes number for RESET_POS command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RESET_POS (1)
-/// Powerstep01 command + argument bytes number for RESET_DEVICE command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_RESET_DEVICE (1)
-/// Powerstep01 command + argument bytes number for NOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_SOFT_STOP (1)
-/// Powerstep01 command + argument bytes number for HARD_STOP command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_HARD_STOP (1)
-/// Powerstep01 command + argument bytes number for SOFT_HIZ command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_SOFT_HIZ (1)
-/// Powerstep01 command + argument bytes number for ARD_HIZ command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_HARD_HIZ (1)
-/// Powerstep01 command + argument bytes number for GET_STATUS command
-#define POWERSTEP01_CMD_ARG_NB_BYTES_GET_STATUS (1)
-
-/// Powerstep01 response bytes number
-#define POWERSTEP01_RSP_NB_BYTES_GET_STATUS (2)
-
-/// Daisy chain command mask
-#define DAISY_CHAIN_COMMAND_MASK (0xFA)
-
-/// powerSTEP01 max absolute position
-#define POWERSTEP01_MAX_POSITION (int32_t)(0x001FFFFF)
-
-/// powerSTEP01 min absolute position
-#define POWERSTEP01_MIN_POSITION (int32_t)(0xFFE00000)
-
-/// powerSTEP01 error base number
-#define POWERSTEP01_ERROR_BASE (0xB000)
-
-/// powerSTEP01 acceleration and deceleration max value
-#define POWERSTEP01_ACC_DEC_MAX_VALUE (float)(59590)
-/// powerSTEP01 max speed max value
-#define POWERSTEP01_MAX_SPEED_MAX_VALUE (float)(15610)
-/// powerSTEP01 min speed max value
-#define POWERSTEP01_MIN_SPEED_MAX_VALUE (float)(976.3)
-/// powerSTEP01 full step speed max value
-#define POWERSTEP01_FS_SPD_MAX_VALUE (float)(15625)
-/// powerSTEP01 intersect speed max value
-#define POWERSTEP01_INT_SPD_MAX_VALUE (float)(976.5)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_K_THERM_MAX_VALUE (float)(1.46875)
-/// powerSTEP01 thermal compensation min value
-#define POWERSTEP01_K_THERM_MIN_VALUE (float)(1)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_STALL_OCD_TH_MAX_VALUE (float)(1000)
-/// powerSTEP01 thermal compensation max value
-#define POWERSTEP01_K_THERM_MAX_VALUE (float)(1.46875)
-/// powerSTEP01 voltage amplitude regulation max value
-#define POWERSTEP01_KVAL_MAX_VALUE (float)(255/256)
-/// powerSTEP01 BEMF compensation curve slope max value
-#define POWERSTEP01_SLP_MAX_VALUE (float)(0.4)
-/// powerSTEP01 torque regulation DAC reference voltage max value
-#define POWERSTEP01_TVAL_MAX_VALUE (float)(1000)
-/// powerSTEP01 minimum off and on time max value
-#define POWERSTEP01_TOFF_TON_MIN_MAX_VALUE (float)(64)
-
-///Shift of the low speed optimization bit in MIN_SPEED register
-#define POWERSTEP01_LSPD_OPT_SHIFT (12)
-///Shift of the boost mode bit in FS_SPD register
-#define POWERSTEP01_BOOST_MODE_SHIFT (10)
-///Maximum fast decay time (TOFF_FAST) unit
-#define POWERSTEP01_TOFF_FAST_UNIT_US (2)
-///Shift of the maximum fast decay time (TOFF_FAST) in T_FAST register
-#define POWERSTEP01_TOFF_FAST_SHIFT (4)
-///Maximum fall step time (FAST_STEP) unit
-#define POWERSTEP01_FAST_STEP_UNIT_US (2)
-///Shift of the maximum fall step time (FAST_STEP) in T_FAST register
-#define POWERSTEP01_FAST_STEP_SHIFT (0)
-///Duration unit of constant current phase during gate turn-on and turn-off (TCC)
-#define POWERSTEP01_TCC_UNIT_NS (125)
-///Shift of TCC field in GATECFG1 register
-#define POWERSTEP01_TCC_SHIFT (0)
-///Shift of IGATE field in GATECFG1 register
-#define POWERSTEP01_IGATE_SHIFT (5)
-///Shift of TBOOST field in GATECFG1 register
-#define POWERSTEP01_TBOOST_SHIFT (8)
-///Duration unit of the blanking of the current sensing comparators (TBLANK)
-#define POWERSTEP01_TBLANK_UNIT_NS (125)
-///Shift of TBLANK field in GATECFG2 register
-#define POWERSTEP01_TBLANK_SHIFT (5)
-///Deadtime duration unit between gate turn-off and opposite gate turn-on (TDT)
-#define POWERSTEP01_TDT_UNIT_NS (125)
-///Shift of TDT field in GATECFG2 register
-#define POWERSTEP01_TDT_SHIFT (0)
-///Shift of F_PWM_INT field in CONFIG register for voltage mode
-#define POWERSTEP01_CONFIG_PWM_DIV_SHIFT (13)
-///Shift of F_PWM_DEC field in CONFIG register for voltage mode
-#define POWERSTEP01_CONFIG_PWM_MUL_SHIFT (10)
-///Target switching period (TSW) unit
-#define POWERSTEP01_CONFIG_TSW_UNIT_US (4)
-///Shift of TSW field in CONFIG register for current mode
-#define POWERSTEP01_CONFIG_TSW_SHIFT (10)
-///Shift of MOT_STATUS field in STATUS register
-#define POWERSTEP01_STATUS_MOT_STATUS_SHIFT (5)
-/**
- * @}
- */
-
-/* Types ---------------------------------------------------------------------*/
-
-/** @defgroup Powerstep01_Exported_Types Powerstep01 Exported Types
- * @{
- */
-/// masks for ABS_POS register of PowerStep01
-typedef enum {
- POWERSTEP01_ABS_POS_VALUE_MASK = ((uint32_t)0x003FFFFF),
- POWERSTEP01_ABS_POS_SIGN_BIT_MASK = ((uint32_t)0x00200000)
-} powerstep01_AbsPosMasks_t;
-
-/// masks for EL_POS register of PowerStep01
-typedef enum {
- POWERSTEP01_ELPOS_STEP_MASK = ((uint16_t)0x180),
- POWERSTEP01_ELPOS_MICROSTEP_MASK = ((uint16_t)0x07F)
-} powerstep01_ElPosMasks_t;
-
-/// masks for MIN_SPEED register of PowerStep01
-typedef enum {
- POWERSTEP01_LSPD_OPT = ((uint16_t)((0x1)<<POWERSTEP01_LSPD_OPT_SHIFT)),
- POWERSTEP01_MIN_SPEED_MASK = ((uint16_t)0x0FFF)
-} powerstep01_MinSpeedMasks_t;
-
-/// Low speed optimization (MIN_SPEED register of PowerStep01)
-typedef enum {
- POWERSTEP01_LSPD_OPT_OFF = ((uint16_t)0x0000),
- POWERSTEP01_LSPD_OPT_ON = ((uint16_t)POWERSTEP01_LSPD_OPT)
-} powerstep01_LspdOpt_t;
-
-/// masks for FS_SPD register of PowerStep01
-typedef enum {
- POWERSTEP01_BOOST_MODE = ((uint16_t)((0x1)<<POWERSTEP01_BOOST_MODE_SHIFT)),
- POWERSTEP01_FS_SPD_MASK = ((uint16_t)0x03FF)
-} powerstep01_FsSpdMasks_t;
-
-/// Full step boost (FS_SPD register of PowerStep01)
-typedef enum {
- POWERSTEP01_BOOST_MODE_OFF = ((uint16_t)0x0000),
- POWERSTEP01_BOOST_MODE_ON = ((uint16_t)POWERSTEP01_BOOST_MODE)
-} powerstep01_BoostMode_t;
-
-/// masks for T_FAST register of PowerStep01
-typedef enum {
- POWERSTEP01_FAST_STEP_MASK = ((uint16_t) ((0xF)<<POWERSTEP01_FAST_STEP_SHIFT)),
- POWERSTEP01_TOFF_FAST_MASK = ((uint16_t) ((0xF)<<POWERSTEP01_TOFF_FAST_SHIFT))
-} powerstep01_TFastMasks_t;
-
-/// Maximum fall step times (T_FAST register of PowerStep01)
-typedef enum {
- POWERSTEP01_FAST_STEP_2us = (((uint8_t)0x00)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_4us = (((uint8_t)0x01)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_6us = (((uint8_t)0x02)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_8us = (((uint8_t)0x03)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_10us = (((uint8_t)0x04)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_12us = (((uint8_t)0x05)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_14us = (((uint8_t)0x06)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_16us = (((uint8_t)0x07)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_18us = (((uint8_t)0x08)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_20us = (((uint8_t)0x09)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_22us = (((uint8_t)0x0A)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_24s = (((uint8_t)0x0B)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_26us = (((uint8_t)0x0C)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_28us = (((uint8_t)0x0D)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_30us = (((uint8_t)0x0E)<<POWERSTEP01_FAST_STEP_SHIFT),
- POWERSTEP01_FAST_STEP_32us = (((uint8_t)0x0F)<<POWERSTEP01_FAST_STEP_SHIFT)
-} powerstep01_FastStep_t;
-
-/// Maximum fast decay times (T_FAST register of PowerStep01)
-typedef enum {
- POWERSTEP01_TOFF_FAST_2us = (((uint8_t)0x00)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_4us = (((uint8_t)0x01)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_6us = (((uint8_t)0x02)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_8us = (((uint8_t)0x03)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_10us = (((uint8_t)0x04)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_12us = (((uint8_t)0x05)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_14us = (((uint8_t)0x06)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_16us = (((uint8_t)0x07)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_18us = (((uint8_t)0x08)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_20us = (((uint8_t)0x09)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_22us = (((uint8_t)0x0A)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_24us = (((uint8_t)0x0B)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_26us = (((uint8_t)0x0C)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_28us = (((uint8_t)0x0D)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_30us = (((uint8_t)0x0E)<<POWERSTEP01_TOFF_FAST_SHIFT),
- POWERSTEP01_TOFF_FAST_32us = (((uint8_t)0x0F)<<POWERSTEP01_TOFF_FAST_SHIFT)
-} powerstep01_ToffFast_t;
-
-/// Overcurrent threshold options (OCD register of PowerStep01)
-typedef enum {
- POWERSTEP01_OCD_TH_31_25mV = ((uint8_t)0x00),
- POWERSTEP01_OCD_TH_62_5mV = ((uint8_t)0x01),
- POWERSTEP01_OCD_TH_93_75mV = ((uint8_t)0x02),
- POWERSTEP01_OCD_TH_125mV = ((uint8_t)0x03),
- POWERSTEP01_OCD_TH_156_25mV = ((uint8_t)0x04),
- POWERSTEP01_OCD_TH_187_50mV = ((uint8_t)0x05),
- POWERSTEP01_OCD_TH_218_75mV = ((uint8_t)0x06),
- POWERSTEP01_OCD_TH_250mV = ((uint8_t)0x07),
- POWERSTEP01_OCD_TH_281_25mV = ((uint8_t)0x08),
- POWERSTEP01_OCD_TH_312_5mV = ((uint8_t)0x09),
- POWERSTEP01_OCD_TH_343_75mV = ((uint8_t)0x0A),
- POWERSTEP01_OCD_TH_375mV = ((uint8_t)0x0B),
- POWERSTEP01_OCD_TH_406_25mV = ((uint8_t)0x0C),
- POWERSTEP01_OCD_TH_437_5mV = ((uint8_t)0x0D),
- POWERSTEP01_OCD_TH_468_75mV = ((uint8_t)0x0E),
- POWERSTEP01_OCD_TH_500mV = ((uint8_t)0x0F),
- POWERSTEP01_OCD_TH_531_25mV = ((uint8_t)0x10),
- POWERSTEP01_OCD_TH_562_5mV = ((uint8_t)0x11),
- POWERSTEP01_OCD_TH_593_75mV = ((uint8_t)0x12),
- POWERSTEP01_OCD_TH_625mV = ((uint8_t)0x13),
- POWERSTEP01_OCD_TH_656_25mV = ((uint8_t)0x14),
- POWERSTEP01_OCD_TH_687_5mV = ((uint8_t)0x15),
- POWERSTEP01_OCD_TH_718_75mV = ((uint8_t)0x16),
- POWERSTEP01_OCD_TH_750mV = ((uint8_t)0x17),
- POWERSTEP01_OCD_TH_781_25mV = ((uint8_t)0x18),
- POWERSTEP01_OCD_TH_812_5mV = ((uint8_t)0x19),
- POWERSTEP01_OCD_TH_843_75mV = ((uint8_t)0x1A),
- POWERSTEP01_OCD_TH_875mV = ((uint8_t)0x1B),
- POWERSTEP01_OCD_TH_906_25mV = ((uint8_t)0x1C),
- POWERSTEP01_OCD_TH_937_75mV = ((uint8_t)0x1D),
- POWERSTEP01_OCD_TH_968_75mV = ((uint8_t)0x1E),
- POWERSTEP01_OCD_TH_1V = ((uint8_t)0x1F)
-} powerstep01_OcdTh_t;
-
-/// masks for STEP_MODE register of PowerStep01
-typedef enum {
- POWERSTEP01_STEP_MODE_STEP_SEL = ((uint8_t)0x07),
- POWERSTEP01_STEP_MODE_CM_VM = ((uint8_t)0x08),
- POWERSTEP01_STEP_MODE_SYNC_SEL = ((uint8_t)0x70),
- POWERSTEP01_STEP_MODE_SYNC_EN = ((uint8_t)0x80)
-} powerstep01_StepModeMasks_t;
-
-/// Voltage or Current mode selection (CM_VM field of STEP_MODE register of PowerStep01)
-typedef enum {
- POWERSTEP01_CM_VM_VOLTAGE = ((uint8_t)0x00),
- POWERSTEP01_CM_VM_CURRENT = ((uint8_t)0x08)
-} powerstep01_CmVm_t;
-
-/// Stepping options (field STEP_SEL of STEP_MODE register of PowerStep01)
-typedef enum {
- POWERSTEP01_STEP_SEL_1 = ((uint8_t)0x00),
- POWERSTEP01_STEP_SEL_1_2 = ((uint8_t)0x01),
- POWERSTEP01_STEP_SEL_1_4 = ((uint8_t)0x02),
- POWERSTEP01_STEP_SEL_1_8 = ((uint8_t)0x03),
- POWERSTEP01_STEP_SEL_1_16 = ((uint8_t)0x04),
- POWERSTEP01_STEP_SEL_1_32 = ((uint8_t)0x05),
- POWERSTEP01_STEP_SEL_1_64 = ((uint8_t)0x06),
- POWERSTEP01_STEP_SEL_1_128 = ((uint8_t)0x07)
-} powerstep01_StepSel_t;
-
-/// Powerstep01 Sync Output frequency enabling bitw
-#define POWERSTEP01_SYNC_EN ((0x1) << 7)
-
-/// SYNC_SEL options (STEP_MODE register of PowerStep01)
-typedef enum {
- POWERSTEP01_SYNC_SEL_DISABLED = ((uint8_t)0x00),
- POWERSTEP01_SYNC_SEL_1_2 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x00)),
- POWERSTEP01_SYNC_SEL_1 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x10)),
- POWERSTEP01_SYNC_SEL_2 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x20)),
- POWERSTEP01_SYNC_SEL_4 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x30)),
- POWERSTEP01_SYNC_SEL_8 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x40)),
- POWERSTEP01_SYNC_SEL_16 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x50)),
- POWERSTEP01_SYNC_SEL_32 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x60)),
- POWERSTEP01_SYNC_SEL_64 = ((uint8_t)(POWERSTEP01_SYNC_EN|0x70))
-} powerstep01_SyncSel_t;
-
-/// Alarms conditions (ALARM_EN register of PowerStep01)
-typedef enum {
- POWERSTEP01_ALARM_EN_OVERCURRENT = ((uint8_t)0x01),
- POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t)0x02),
- POWERSTEP01_ALARM_EN_THERMAL_WARNING = ((uint8_t)0x04),
- POWERSTEP01_ALARM_EN_UVLO = ((uint8_t)0x08),
- POWERSTEP01_ALARM_EN_ADC_UVLO = ((uint8_t)0x10),
- POWERSTEP01_ALARM_EN_STALL_DETECTION = ((uint8_t)0x20),
- POWERSTEP01_ALARM_EN_SW_TURN_ON = ((uint8_t)0x40),
- POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t)0x80)
-} powerstep01_AlarmEn_t;
-
-
-/// masks for GATECFG1 register of PowerStep01
-typedef enum {
- POWERSTEP01_GATECFG1_TCC_MASK = ((uint16_t)0x001F),
- POWERSTEP01_GATECFG1_IGATE_MASK = ((uint16_t)0x00E0),
- POWERSTEP01_GATECFG1_TBOOST_MASK = ((uint16_t)0x0700),
- POWERSTEP01_GATECFG1_WD_EN = ((uint16_t)0x0800)
-} powerstep01_GateCfg1Masks_t;
-
-/// Control current Time (field TCC of GATECFG1 register of PowerStep01)
-typedef enum {
- POWERSTEP01_TCC_125ns = (((uint8_t)0x00)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_250ns = (((uint8_t)0x01)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_375ns = (((uint8_t)0x02)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_500ns = (((uint8_t)0x03)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_625ns = (((uint8_t)0x04)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_750ns = (((uint8_t)0x05)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_875ns = (((uint8_t)0x06)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1000ns = (((uint8_t)0x07)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1125ns = (((uint8_t)0x08)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1250ns = (((uint8_t)0x09)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1375ns = (((uint8_t)0x0A)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1500ns = (((uint8_t)0x0B)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1625ns = (((uint8_t)0x0C)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1750ns = (((uint8_t)0x0D)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_1875ns = (((uint8_t)0x0E)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2000ns = (((uint8_t)0x0F)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2125ns = (((uint8_t)0x10)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2250ns = (((uint8_t)0x11)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2375ns = (((uint8_t)0x12)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2500ns = (((uint8_t)0x13)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2625ns = (((uint8_t)0x14)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2750ns = (((uint8_t)0x15)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_2875ns = (((uint8_t)0x16)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3000ns = (((uint8_t)0x17)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3125ns = (((uint8_t)0x18)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3250ns = (((uint8_t)0x19)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3375ns = (((uint8_t)0x1A)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3500ns = (((uint8_t)0x1B)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3625ns = (((uint8_t)0x1C)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3750ns = (((uint8_t)0x1D)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3750ns_bis = (((uint8_t)0x1E)<<POWERSTEP01_TCC_SHIFT),
- POWERSTEP01_TCC_3750ns_ter = (((uint8_t)0x1F)<<POWERSTEP01_TCC_SHIFT)
-} powerstep01_Tcc_t;
-
-/// Igate options (GATECFG1 register of PowerStep01)
-typedef enum {
- POWERSTEP01_IGATE_4mA = (((uint8_t)0x00)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_4mA_Bis = (((uint8_t)0x01)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_8mA = (((uint8_t)0x02)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_16mA = (((uint8_t)0x03)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_24mA = (((uint8_t)0x04)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_32mA = (((uint8_t)0x05)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_64mA = (((uint8_t)0x06)<<POWERSTEP01_IGATE_SHIFT),
- POWERSTEP01_IGATE_96mA = (((uint8_t)0x07)<<POWERSTEP01_IGATE_SHIFT),
-} powerstep01_Igate_t;
-
-/// Turn off boost time (TBOOST field of GATECFG1 register of PowerStep01)
-typedef enum {
- POWERSTEP01_TBOOST_0ns = (((uint8_t)0x00)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_62_5__83_3__125ns = (((uint8_t)0x01)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_125ns = (((uint8_t)0x02)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_250ns = (((uint8_t)0x03)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_375ns = (((uint8_t)0x04)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_500ns = (((uint8_t)0x05)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_750ns = (((uint8_t)0x06)<<POWERSTEP01_TBOOST_SHIFT),
- POWERSTEP01_TBOOST_1000ns = (((uint8_t)0x07)<<POWERSTEP01_TBOOST_SHIFT),
-} powerstep01_Tboost_t;
-
-/// External clock watchdog (WD_EN field of GATECFG1 register of PowerStep01)
-typedef enum {
- POWERSTEP01_WD_EN_DISABLE = ((uint16_t)0x0000),
- POWERSTEP01_WD_EN_ENABLE = ((uint16_t) ((0x1) << 11))
-} powerstep01_WdEn_t;
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "PowerStep01.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
-/// masks for GATECFG2 register of PowerStep01
-typedef enum {
- POWERSTEP01_GATECFG2_TDT = ((uint8_t)0x1F),
- POWERSTEP01_GATECFG2_TBLANK = ((uint8_t)0xE0)
-} powerstep01_GateCfg2Masks_t;
-
-/// Blanking time (TBLANK field of GATECFG2 register of PowerStep01)
-typedef enum {
- POWERSTEP01_TBLANK_125ns = (((uint8_t)0x00)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_250ns = (((uint8_t)0x01)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_375ns = (((uint8_t)0x02)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_500ns = (((uint8_t)0x03)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_625ns = (((uint8_t)0x04)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_750ns = (((uint8_t)0x05)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_875ns = (((uint8_t)0x06)<<POWERSTEP01_TBLANK_SHIFT),
- POWERSTEP01_TBLANK_1000ns = (((uint8_t)0x07)<<POWERSTEP01_TBLANK_SHIFT),
-} powerstep01_TBlank_t;
-
-/// Dead time (TDT field of GATECFG2 register of PowerStep01)
-typedef enum {
- POWERSTEP01_TDT_125ns = (((uint8_t)0x00)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_250ns = (((uint8_t)0x01)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_375ns = (((uint8_t)0x02)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_500ns = (((uint8_t)0x03)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_625ns = (((uint8_t)0x04)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_750ns = (((uint8_t)0x05)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_875ns = (((uint8_t)0x06)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1000ns = (((uint8_t)0x07)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1125ns = (((uint8_t)0x08)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1250ns = (((uint8_t)0x09)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1375ns = (((uint8_t)0x0A)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1500ns = (((uint8_t)0x0B)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1625ns = (((uint8_t)0x0C)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1750ns = (((uint8_t)0x0D)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_1875ns = (((uint8_t)0x0E)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2000ns = (((uint8_t)0x0F)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2125ns = (((uint8_t)0x10)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2250ns = (((uint8_t)0x11)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2375ns = (((uint8_t)0x12)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2500ns = (((uint8_t)0x13)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2625ns = (((uint8_t)0x14)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2750ns = (((uint8_t)0x15)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_2875ns = (((uint8_t)0x16)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3000ns = (((uint8_t)0x17)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3125ns = (((uint8_t)0x18)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3250ns = (((uint8_t)0x19)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3375ns = (((uint8_t)0x1A)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3500ns = (((uint8_t)0x1B)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3625ns = (((uint8_t)0x1C)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3750ns = (((uint8_t)0x1D)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_3875ns = (((uint8_t)0x1E)<<POWERSTEP01_TDT_SHIFT),
- POWERSTEP01_TDT_4000ns = (((uint8_t)0x1F)<<POWERSTEP01_TDT_SHIFT)
-} powerstep01_Tdt_t;
-
-/// Masks for CONFIG register of Powerstep01
-typedef enum {
- POWERSTEP01_CONFIG_OSC_SEL = ((uint16_t)0x0007),
- POWERSTEP01_CONFIG_EXT_CLK = ((uint16_t)0x0008),
- POWERSTEP01_CONFIG_SW_MODE = ((uint16_t)0x0010),
- POWERSTEP01_CONFIG_OC_SD = ((uint16_t)0x0080),
- POWERSTEP01_CONFIG_UVLOVAL = ((uint16_t)0x0100),
- POWERSTEP01_CONFIG_VCCVAL = ((uint16_t)0x0200),
- // Masks specific for voltage mode
- POWERSTEP01_CONFIG_EN_VSCOMP = ((uint16_t)0x0020),
- POWERSTEP01_CONFIG_F_PWM_DEC = ((uint16_t)0x1C00),
- POWERSTEP01_CONFIG_F_PWM_INT = ((uint16_t)0xE000),
- // Masks specific for current mode
- POWERSTEP01_CONFIG_TSW = ((uint16_t)0x7C00),
- POWERSTEP01_CONFIG_PRED_EN = ((uint16_t)0x8000)
-} powerstep01_ConfigMasks_t;
-
-/// Masks for CONFIG register of Powerstep01 (specific for current mode)
-#define POWERSTEP01_CONFIG_EN_TQREG (POWERSTEP01_CONFIG_EN_VSCOMP)
-
-/// Oscillator management (EXT_CLK and OSC_SEL fields of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_INT_16MHZ = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t)0x0008),
- POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t)0x0009),
- POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t)0x000A),
- POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t)0x000B),
- POWERSTEP01_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t)0x0004),
- POWERSTEP01_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t)0x0005),
- POWERSTEP01_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t)0x0006),
- POWERSTEP01_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t)0x0007),
- POWERSTEP01_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t)0x000C),
- POWERSTEP01_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t)0x000D),
- POWERSTEP01_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t)0x000E),
- POWERSTEP01_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t)0x000F)
-} powerstep01_ConfigOscMgmt_t;
-
-/// Oscillator management (EXT_CLK and OSC_SEL fields of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_SW_HARD_STOP = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_SW_USER = ((uint16_t)0x0010)
-} powerstep01_ConfigSwMode_t;
-
-/// Voltage supply compensation enabling for voltage mode (EN_VSCOMP field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_VS_COMP_DISABLE = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_VS_COMP_ENABLE = ((uint16_t)0x0020)
-} powerstep01_ConfigEnVscomp_t;
-
-/// External torque regulation enabling (EN_TQREG field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_TQ_REG_TVAL_USED = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_TQ_REG_ADC_OUT = ((uint16_t)0x0020)
-} powerstep01_ConfigEnTqReg_t;
-
-/// Overcurrent shutdown (OC_SD field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_OC_SD_DISABLE = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_OC_SD_ENABLE = ((uint16_t)0x0080)
-} powerstep01_ConfigOcSd_t;
-
-/// UVLO thresholds (UVLOVAL field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_UVLOVAL_LOW = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_UVLOVAL_HIGH = ((uint16_t)0x0100),
-} powerstep01_ConfigUvLoVal_t;
-
-/// Vcc voltage (VCCVAL field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_VCCVAL_7_5V = ((uint16_t)0x0000),
- POWERSTEP01_CONFIG_VCCVAL_15V = ((uint16_t)0x0200)
-} powerstep01_ConfigVccVal_t;
-
-/// PWM frequency division factor (F_PWM_INT field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_PWM_DIV_1 = (((uint16_t)0x00)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_2 = (((uint16_t)0x01)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_3 = (((uint16_t)0x02)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_4 = (((uint16_t)0x03)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_5 = (((uint16_t)0x04)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_6 = (((uint16_t)0x05)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT),
- POWERSTEP01_CONFIG_PWM_DIV_7 = (((uint16_t)0x06)<<POWERSTEP01_CONFIG_PWM_DIV_SHIFT)
-} powerstep01_ConfigFPwmInt_t;
-
-/// PWM frequency multiplication factor (F_PWM_DEC field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_PWM_MUL_0_625 = (((uint16_t)0x00)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_0_75 = (((uint16_t)0x01)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_0_875 = (((uint16_t)0x02)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_1 = (((uint16_t)0x03)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_1_25 = (((uint16_t)0x04)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_1_5 = (((uint16_t)0x05)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_1_75 = (((uint16_t)0x06)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT),
- POWERSTEP01_CONFIG_PWM_MUL_2 = (((uint16_t)0x07)<<POWERSTEP01_CONFIG_PWM_MUL_SHIFT)
-} powerstep01_ConfigFPwmDec_t;
-
-/// Switching period (TSW field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_TSW_004us =(((uint16_t)0x01)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_008us =(((uint16_t)0x02)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_012us =(((uint16_t)0x03)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_016us =(((uint16_t)0x04)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_020us =(((uint16_t)0x05)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_024us =(((uint16_t)0x06)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_028us =(((uint16_t)0x07)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_032us =(((uint16_t)0x08)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_036us =(((uint16_t)0x09)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_040us =(((uint16_t)0x0A)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_044us =(((uint16_t)0x0B)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_048us =(((uint16_t)0x0C)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_052us =(((uint16_t)0x0D)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_056us =(((uint16_t)0x0E)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_060us =(((uint16_t)0x0F)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_064us =(((uint16_t)0x10)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_068us =(((uint16_t)0x11)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_072us =(((uint16_t)0x12)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_076us =(((uint16_t)0x13)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_080us =(((uint16_t)0x14)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_084us =(((uint16_t)0x15)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_088us =(((uint16_t)0x16)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_092us =(((uint16_t)0x17)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_096us =(((uint16_t)0x18)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_100us =(((uint16_t)0x19)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_104us =(((uint16_t)0x1A)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_108us =(((uint16_t)0x1B)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_112us =(((uint16_t)0x1C)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_116us =(((uint16_t)0x1D)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_120us =(((uint16_t)0x1E)<<POWERSTEP01_CONFIG_TSW_SHIFT),
- POWERSTEP01_CONFIG_TSW_124us =(((uint16_t)0x1F)<<POWERSTEP01_CONFIG_TSW_SHIFT)
-} powerstep01_ConfigTsw_t;
-
-/// Voltage supply compensation enabling for current mode(EN_PRED field of CONFIG register of Powerstep01)
-typedef enum {
- POWERSTEP01_CONFIG_PRED_DISABLE =((uint16_t)0x0000),
- POWERSTEP01_CONFIG_PRED_ENABLE =((uint16_t)0x8000)
-} powerstep01_ConfigPredEn_t;
-
-/// Bit mask for STATUS Register of PowerStep01²
-typedef enum {
- POWERSTEP01_STATUS_HIZ = (((uint16_t)0x0001)),
- POWERSTEP01_STATUS_BUSY = (((uint16_t)0x0002)),
- POWERSTEP01_STATUS_SW_F = (((uint16_t)0x0004)),
- POWERSTEP01_STATUS_SW_EVN = (((uint16_t)0x0008)),
- POWERSTEP01_STATUS_DIR = (((uint16_t)0x0010)),
- POWERSTEP01_STATUS_MOT_STATUS = (((uint16_t)0x0060)),
- POWERSTEP01_STATUS_CMD_ERROR = (((uint16_t)0x0080)),
- POWERSTEP01_STATUS_STCK_MOD = (((uint16_t)0x0100)),
- POWERSTEP01_STATUS_UVLO = (((uint16_t)0x0200)),
- POWERSTEP01_STATUS_UVLO_ADC = (((uint16_t)0x0400)),
- POWERSTEP01_STATUS_TH_STATUS = (((uint16_t)0x1800)),
- POWERSTEP01_STATUS_OCD = (((uint16_t)0x2000)),
- POWERSTEP01_STATUS_STALL_A = (((uint16_t)0x4000)),
- POWERSTEP01_STATUS_STALL_B = (((uint16_t)0x8000))
-} powerstep01_StatusMasks_t;
-
-/// Motor state (MOT_STATUS filed of STATUS register of PowerStep01)
-typedef enum {
- POWERSTEP01_STATUS_MOT_STATUS_STOPPED = (((uint16_t)0x0000)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
- POWERSTEP01_STATUS_MOT_STATUS_ACCELERATION = (((uint16_t)0x0001)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
- POWERSTEP01_STATUS_MOT_STATUS_DECELERATION = (((uint16_t)0x0002)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT),
- POWERSTEP01_STATUS_MOT_STATUS_CONST_SPD = (((uint16_t)0x0003)<<POWERSTEP01_STATUS_MOT_STATUS_SHIFT)
-} powerstep01_Status_t;
-
-/// Powerstep01 internal register addresses
-typedef enum {
- POWERSTEP01_ABS_POS = ((uint8_t)0x01),
- POWERSTEP01_EL_POS = ((uint8_t)0x02),
- POWERSTEP01_MARK = ((uint8_t)0x03),
- POWERSTEP01_SPEED = ((uint8_t)0x04),
- POWERSTEP01_ACC = ((uint8_t)0x05),
- POWERSTEP01_DEC = ((uint8_t)0x06),
- POWERSTEP01_MAX_SPEED = ((uint8_t)0x07),
- POWERSTEP01_MIN_SPEED = ((uint8_t)0x08),
- POWERSTEP01_FS_SPD = ((uint8_t)0x15),
- POWERSTEP01_KVAL_HOLD = ((uint8_t)0x09),
- POWERSTEP01_KVAL_RUN = ((uint8_t)0x0A),
- POWERSTEP01_KVAL_ACC = ((uint8_t)0x0B),
- POWERSTEP01_KVAL_DEC = ((uint8_t)0x0C),
- POWERSTEP01_INT_SPD = ((uint8_t)0x0D),
- POWERSTEP01_ST_SLP = ((uint8_t)0x0E),
- POWERSTEP01_FN_SLP_ACC = ((uint8_t)0x0F),
- POWERSTEP01_FN_SLP_DEC = ((uint8_t)0x10),
- POWERSTEP01_K_THERM = ((uint8_t)0x11),
- POWERSTEP01_ADC_OUT = ((uint8_t)0x12),
- POWERSTEP01_OCD_TH = ((uint8_t)0x13),
- POWERSTEP01_STALL_TH = ((uint8_t)0x14),
- POWERSTEP01_STEP_MODE = ((uint8_t)0x16),
- POWERSTEP01_ALARM_EN = ((uint8_t)0x17),
- POWERSTEP01_GATECFG1 = ((uint8_t)0x18),
- POWERSTEP01_GATECFG2 = ((uint8_t)0x19),
- POWERSTEP01_CONFIG = ((uint8_t)0x1A),
- POWERSTEP01_STATUS = ((uint8_t)0x1B)
-} powerstep01_Registers_t;
-
-/// Powerstep01 address of register TVAL_HOLD (Current mode only)
-#define POWERSTEP01_TVAL_HOLD (POWERSTEP01_KVAL_HOLD )
-/// Powerstep01 address of register TVAL_RUN (Current mode only)
-#define POWERSTEP01_TVAL_RUN (POWERSTEP01_KVAL_RUN)
-/// Powerstep01 address of register TVAL_HOLD (Current mode only)
-#define POWERSTEP01_TVAL_ACC (POWERSTEP01_KVAL_ACC)
-/// Powerstep01 address of register TVAL_DEC (Current mode only)
-#define POWERSTEP01_TVAL_DEC (POWERSTEP01_KVAL_DEC)
-/// Powerstep01 address of register T_FAST (Current mode only)
-#define POWERSTEP01_T_FAST (POWERSTEP01_ST_SLP)
-/// Powerstep01 address of register TON_MIN (Current mode only)
-#define POWERSTEP01_TON_MIN (POWERSTEP01_FN_SLP_ACC)
-/// Powerstep01 address of register TOFF_MIN (Current mode only)
-#define POWERSTEP01_TOFF_MIN (POWERSTEP01_FN_SLP_DEC)
-
-/// Powerstep01 application commands
-typedef enum {
- POWERSTEP01_NOP = ((uint8_t)0x00),
- POWERSTEP01_SET_PARAM = ((uint8_t)0x00),
- POWERSTEP01_GET_PARAM = ((uint8_t)0x20),
- POWERSTEP01_RUN = ((uint8_t)0x50),
- POWERSTEP01_STEP_CLOCK = ((uint8_t)0x58),
- POWERSTEP01_MOVE = ((uint8_t)0x40),
- POWERSTEP01_GO_TO = ((uint8_t)0x60),
- POWERSTEP01_GO_TO_DIR = ((uint8_t)0x68),
- POWERSTEP01_GO_UNTIL = ((uint8_t)0x82),
- POWERSTEP01_GO_UNTIL_ACT_CPY = ((uint8_t)0x8A),
- POWERSTEP01_RELEASE_SW = ((uint8_t)0x92),
- POWERSTEP01_GO_HOME = ((uint8_t)0x70),
- POWERSTEP01_GO_MARK = ((uint8_t)0x78),
- POWERSTEP01_RESET_POS = ((uint8_t)0xD8),
- POWERSTEP01_RESET_DEVICE = ((uint8_t)0xC0),
- POWERSTEP01_SOFT_STOP = ((uint8_t)0xB0),
- POWERSTEP01_HARD_STOP = ((uint8_t)0xB8),
- POWERSTEP01_SOFT_HIZ = ((uint8_t)0xA0),
- POWERSTEP01_HARD_HIZ = ((uint8_t)0xA8),
- POWERSTEP01_GET_STATUS = ((uint8_t)0xD0),
- POWERSTEP01_RESERVED_CMD1 = ((uint8_t)0xEB),
- POWERSTEP01_RESERVED_CMD2 = ((uint8_t)0xF8)
-} powerstep01_Commands_t;
-
-/** @defgroup Motor_Driver_Initialization_Structure Motor Driver Initialization Structure
- * @{
- */
-/* 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; *
- *----------------------------------------------------------------------------*/
-///Initialization parameters structure common to current and voltage modes
-typedef struct
-{
- ///Current or voltage mode selection
- powerstep01_CmVm_t cmVmSelection;
- ///Acceleration
- float acceleration;
- ///Deceleration
- float deceleration;
- ///Maximum speed
- float maxSpeed;
- ///Minimum speed
- float minSpeed;
- ///Low speed optimization bit
- powerstep01_LspdOpt_t lowSpeedOptimization;
- ///Full step speed
- float fullStepSpeed;
- ///Boost mode bit
- powerstep01_BoostMode_t boostMode;
- ///Over current detection threshold
- float ocdThreshold;
- ///Step mode
- motorStepMode_t stepMode;
- ///Sync clock selection
- powerstep01_SyncSel_t syncClockSelection;
- ///Alarm selection
- uint8_t alarmsSelection;
- ///Sink or source current used by gate driving circuitry
- powerstep01_Igate_t iGate;
- ///Duration of the overboost phase during gate turn-off
- powerstep01_Tboost_t tBoost;
- ///Duration of constant current phase during gate turn-on and turn-off
- powerstep01_Tcc_t tcc;
- ///Clock source monitoring enable bit
- powerstep01_WdEn_t wdEn;
- ///Duration of the blanking of the current sensing comparators
- powerstep01_TBlank_t tBlank;
- ///Deadtime duration between gate turn-off and opposite gate turn-on
- powerstep01_Tdt_t tdt;
-} commonParameters_t;
-
-///Initialization parameters structure for voltage mode
-typedef struct
-{
- ///Parameters common to current and voltage modes
- commonParameters_t cp;
- ///Voltage amplitude regulation when the motor is stopped
- float kvalHold;
- ///Voltage amplitude regulation when the motor is running at constant speed
- float kvalRun;
- ///Voltage amplitude regulation during motor acceleration
- float kvalAcc;
- ///Voltage amplitude regulation during motor deceleration
- float kvalDec;
- ///Speed value at which the BEMF compensation curve changes slope
- float intersectSpeed;
- ///BEMF compensation curve slope when speed is lower than intersect speed
- float startSlope;
- ///BEMF compensation curve slope when speed is greater than intersect speed during acceleration
- float accelerationFinalSlope;
- ///BEMF compensation curve slope when speed is greater than intersect speed during deceleration
- float decelerationFinalSlope;
- ///Winding resistance thermal drift compensation coefficient
- float thermalCompensationFactor;
- ///Stall detection threshold
- float stallThreshold;
- ///System clock source management
- powerstep01_ConfigOscMgmt_t oscClkSel;
- ///External switch to act as HardStop interrupt or not
- powerstep01_ConfigSwMode_t swMode;
- ///Motor supply voltage compensation enable bit
- powerstep01_ConfigEnVscomp_t enVsComp;
- ///Overcurrent event causes or not the bridges to turn-off
- powerstep01_ConfigOcSd_t ocSd;
- ///UVLO protection thresholds
- powerstep01_ConfigUvLoVal_t uvloVal;
- ///Internal VCC regulator output voltage
- powerstep01_ConfigVccVal_t vccVal;
- ///Integer division factor of PWM frequency generation
- powerstep01_ConfigFPwmInt_t fPwmInt;
- ///Multiplication factor of PWM frequency generation
- powerstep01_ConfigFPwmDec_t fPwmDec;
-} powerstep01_VoltageMode_Init_t;
-
-///Initialization parameters structure for current mode
-typedef struct
-{
- ///Parameters common to current and voltage modes
- commonParameters_t cp;
- ///Torque regulation DAC reference voltage when motor is stopped
- float tvalHold;
- ///Torque regulation DAC reference voltage when motor is runnig at constant speed
- float tvalRun;
- ///Torque regulation DAC reference voltage during motor acceleration
- float tvalAcc;
- ///Torque regulation DAC reference voltage during motor deceleration
- float tvalDec;
- ///Maximum fast decay time
- powerstep01_ToffFast_t toffFast;
- ///Maximum fall step time
- powerstep01_FastStep_t fastStep;
- ///Minimum on-time
- float tonMin;
- ///Minimum off-time
- float toffMin;
- ///System clock source management
- powerstep01_ConfigOscMgmt_t oscClkSel;
- ///External switch to act as HardStop interrupt or not
- powerstep01_ConfigSwMode_t swMode;
- ///Peak current is adjusted through the ADCIN input or not
- powerstep01_ConfigEnTqReg_t tqReg;
- ///Motor supply voltage compensation enable bit
- powerstep01_ConfigEnVscomp_t enVsComp;
- ///Overcurrent event causes or not the bridges to turn-off
- powerstep01_ConfigOcSd_t ocSd;
- ///UVLO protection thresholds
- powerstep01_ConfigUvLoVal_t uvloVal;
- ///Internal VCC regulator output voltage
- powerstep01_ConfigVccVal_t vccVal;
- ///target switching period
- powerstep01_ConfigTsw_t tsw;
- ///predictive current control method enable bit
- powerstep01_ConfigPredEn_t predEn;
-
-} powerstep01_CurrentMode_Init_t;
-
-///Union of current and volatge modes initialization parameters structures
-typedef union powerstep01_Init_u powerstep01_Init_u_t;
-union powerstep01_Init_u
-{
- ///Initialization parameters structure for current mode
- powerstep01_CurrentMode_Init_t cm;
- ///Initialization parameters structure for voltage mode
- powerstep01_VoltageMode_Init_t vm;
-};
-/**
- * @}
- */
-
-/**
- * @brief Powerstep01 driver data structure definition.
- */
-/* ACTION --------------------------------------------------------------------*
- * Declare here the structure of component's data, if any, one variable per *
- * line without initialization. *
- * *
- * Example: *
- * typedef struct *
- * { *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- * } COMPONENT_Data_t; *
- *----------------------------------------------------------------------------*/
+/* Classes -------------------------------------------------------------------*/
/**
- * @}
- */
+ * @brief Class representing a Powerstep01 component.
+ */
+class PowerStep01 : public StepperMotor
+{
+public:
+
+ /*** 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 pwm pin name of the PWM 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.
+ */
+ PowerStep01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
+ {
+ /* Checking stackability. */
+ if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
+ error("Instantiation of the PowerStep01 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
+
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+ errorHandlerCallback = 0;
+ deviceInstance = numberOfDevices++;
+ memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~PowerStep01(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int GetValue(float *pData) //(1) *
+ * { *
+ * return COMPONENT_GetValue(float *pfData); *
+ * } *
+ * *
+ * virtual int EnableFeature(void) //(2) *
+ * { *
+ * return COMPONENT_EnableFeature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @brief Public functions inherited from the Component Class
+ */
+
+ /**
+ * @brief Initialize 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 = NULL)
+ {
+ return (int) Powerstep01_Init((void *) 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 read_id(uint8_t *id = NULL)
+ {
+ return (int) Powerstep01_ReadID((uint8_t *) id);
+ }
+
+ /**
+ * @brief Public functions inherited from the StepperMotor Class
+ */
+
+ /**
+ * @brief Getting the value of the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are cleared, contrary to read_status_register().
+ */
+ virtual unsigned int get_status(void)
+ {
+ return (unsigned int) Powerstep01_CmdGetStatus();
+ }
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int get_position(void)
+ {
+ return (signed int)Powerstep01_GetPosition();
+ }
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int get_mark(void)
+ {
+ return (signed int)Powerstep01_GetMark();
+ }
+
+ /**
+ * @brief Getting the current speed in step/s.
+ * @param None.
+ * @retval The current speed in step/s.
+ */
+ virtual unsigned int get_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
+ }
+
+ /**
+ * @brief Getting the maximum speed in step/s.
+ * @param None.
+ * @retval The maximum speed in step/s.
+ */
+ virtual unsigned int get_max_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
+ }
+
+ /**
+ * @brief Getting the minimum speed in step/s.
+ * @param None.
+ * @retval The minimum speed in step/s.
+ */
+ virtual unsigned int get_min_speed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
+ }
+
+ /**
+ * @brief Getting the acceleration in step/s^2.
+ * @param None.
+ * @retval The acceleration in step/s^2.
+ */
+ virtual unsigned int get_acceleration(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
+ }
+
+ /**
+ * @brief Getting the deceleration in step/s^2.
+ * @param None.
+ * @retval The deceleration in step/s^2.
+ */
+ virtual unsigned int get_deceleration(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
+ }
+
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t get_direction(void)
+ {
+ if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
+ {
+ return FWD;
+ }
+ else
+ {
+ return BWD;
+ }
+ }
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_home(void)
+ {
+ Powerstep01_SetHome();
+ }
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_mark(void)
+ {
+ Powerstep01_SetMark();
+ }
+
+ /**
+ * @brief Setting the maximum speed in steps/s.
+ * @param speed The maximum speed in steps/s.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool set_max_speed(unsigned int speed)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
+ }
+
+ /**
+ * @brief Setting the minimum speed in steps/s.
+ * @param speed The minimum speed in steps/s.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool set_min_speed(unsigned int speed)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
+ }
+
+ /**
+ * @brief Setting the acceleration in steps/s^2.
+ * @param acceleration The acceleration in steps/s^2.
+ * @retval None.
+ */
+ virtual bool set_acceleration(unsigned int acceleration)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
+ }
+
+ /**
+ * @brief Setting the deceleration in steps/s^2.
+ * @param deceleration The deceleration in steps/s^2.
+ * @retval None.
+ */
+ virtual bool set_deceleration(unsigned int deceleration)
+ {
+ return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
+ }
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval None.
+ * @note step_mode can be one of the following:
+ * + STEP_MODE_FULL
+ * + STEP_MODE_HALF
+ * + STEP_MODE_1_4
+ * + STEP_MODE_1_8
+ * + STEP_MODE_1_16
+ * + STEP_MODE_1_32
+ * + STEP_MODE_1_64
+ * + STEP_MODE_1_128
+ */
+ virtual bool set_step_mode(step_mode_t step_mode)
+ {
+ return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
+ }
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void go_to(signed int position)
+ {
+ Powerstep01_CmdGoTo((int32_t)position);
+ }
+
+ virtual void go_to(direction_t direction, signed int position)
+ {
+ Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
+ }
+
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_home(void)
+ {
+ Powerstep01_CmdGoHome();
+ }
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_mark(void)
+ {
+ Powerstep01_CmdGoMark();
+ }
-/* Functions -----------------------------------------------------------------*/
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(direction_t direction)
+ {
+ Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
+ }
+
+ /**
+ * @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)
+ {
+ Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_stop(void)
+ {
+ Powerstep01_CmdSoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_stop(void)
+ {
+ Powerstep01_CmdHardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_hiz(void)
+ {
+ Powerstep01_CmdSoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_hiz(void)
+ {
+ Powerstep01_CmdHardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void wait_while_active(void)
+ {
+ Powerstep01_WaitWhileActive();
+ }
+
+ /**
+ * @brief Public functions NOT inherited
+ */
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void attach_error_handler(void (*fptr)(uint16_t error))
+ {
+ Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+ }
+
+ /**
+ * @brief Checks if the device is busy by reading the busy pin position.
+ * @param None.
+ * @retval One if the device his busy (low logic level on busy output),
+ * otherwise zero
+ */
+ virtual int check_busy_hw(void)
+ {
+ if (busy_irq!=0) return 0x01;
+ else return 0x00;
+ }
+
+ /**
+ * @brief Checks if the device has an alarm flag set by reading the flag pin position.
+ * @param None.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual unsigned int check_status_hw(void)
+ {
+ if (flag_irq!=0) return 0x01;
+ else return 0x00;
+ }
+
+ /**
+ * @brief Fetch and clear status flags of all devices
+ * by issuing a GET_STATUS command simultaneously
+ * to all devices.
+ * Then, the fetched status of each device can be retrieved
+ * by using the Powerstep01_GetFetchedStatus function
+ * provided there is no other calls to functions which
+ * use the SPI in between.
+ * @retval None
+ */
+ virtual void fetch_and_clear_all_status(void)
+ {
+ Powerstep01_FetchAndClearAllStatus();
+ }
+
+ /**
+ * @brief Getting a parameter float value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's float value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ */
+ virtual float get_analog_value(unsigned int parameter)
+ {
+ return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
+ }
-/** @defgroup Powerstep01_Board_Linked_Functions Powerstep01 Board Linked Functions
- * @{
- */
+ /**
+ * @brief Get the value of the STATUS register which was
+ * fetched by using Powerstep01_FetchAndClearAllStatus.
+ * The fetched values are available as long as there
+ * no other calls to functions which use the SPI.
+ * @retval Last fetched value of the STATUS register.
+ */
+ virtual uint16_t get_fetched_status(void)
+ {
+ return Powerstep01_GetFetchedStatus();
+ }
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual unsigned int get_fw_version(void)
+ {
+ return (unsigned int) Powerstep01_GetFwVersion();
+ }
+
+ /**
+ * @brief Getting a parameter register value.
+ * @param parameter A parameter's register adress.
+ * @retval The parameter's register value.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_SPEED
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ * + POWERSTEP01_STATUS
+ */
+ virtual unsigned int get_raw_parameter(unsigned int parameter)
+ {
+ return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
+ }
+
+ /**
+ * @brief Issues PowerStep01 Go Until command.
+ * @param action type of action to undertake when the SW
+ * input is forced high (ACTION_RESET or ACTION_COPY).
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual void go_until(motorAction_t action, direction_t direction, float speed)
+ {
+ Powerstep01_CmdGoUntil(action,
+ (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
+ speed_steps_s_to_reg_val(speed));
+ }
+
+ /**
+ * @brief Checks if the device is busy
+ * by reading the Busy flag bit ot its status Register
+ * This operation clears the status register
+ * @retval true if device is busy, false zero
+ */
+ virtual bool is_device_busy(void)
+ {
+ return Powerstep01_IsDeviceBusy();
+ }
+
+ /**
+ * @brief Put commands in queue before synchronous sending
+ * done by calling send_queued_commands.
+ * Any call to functions that use the SPI between the calls of
+ * queue_commands and send_queued_commands
+ * will corrupt the queue.
+ * A command for each device of the daisy chain must be
+ * specified before calling send_queued_commands.
+ * @param command Command to queue (all Powerstep01 commmands
+ * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
+ * POWERSTEP01_GET_STATUS).
+ * @param value argument of the command to queue.
+ * @retval None.
+ */
+ virtual void queue_commands(uint8_t command, int32_t value)
+ {
+ Powerstep01_QueueCommands(command, value);
+ }
+
+ /**
+ * @brief Reading the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are not cleared, contrary to get_status().
+ */
+ virtual uint16_t read_status_register(void)
+ {
+ return Powerstep01_ReadStatusRegister();
+ }
+
+ /**
+ * @brief Issues PowerStep01 Release SW command.
+ * @param action type of action to undertake when the SW
+ * input is forced high (ACTION_RESET or ACTION_COPY).
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval One if the device has an alarm flag set (low logic level on flag output),
+ * otherwise zero
+ */
+ virtual void release_sw(motorAction_t action, direction_t direction)
+ {
+ Powerstep01_CmdReleaseSw(action,
+ (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+ }
+
+ /**
+ * @brief Issues PowerStep01 Reset Device command.
+ * @param None.
+ * @retval None.
+ */
+ virtual void reset_command(void)
+ {
+ Powerstep01_CmdResetDevice();
+ }
+
+ /**
+ * @brief Issues PowerStep01 ResetPos command.
+ * @param None.
+ * @retval None.
+ * @note Same effect as set_home().
+ */
+ virtual void reset_position(void)
+ {
+ Powerstep01_CmdResetPos();
+ }
-/* ACTION --------------------------------------------------------------------*
- * 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); *
- *----------------------------------------------------------------------------*/
-///Delay of the requested number of milliseconds
-extern void Powerstep01_Board_Delay(void *handle, uint32_t delay);
-///Enable Irq
-extern void Powerstep01_Board_EnableIrq(void *handle);
-///Disable Irq
-extern void Powerstep01_Board_DisableIrq(void *handle);
-///Init the timer for the step clock
-extern void Powerstep01_Board_StepClockInit(void *handle);
-///Set the Powerstep01 reset pin (high logic level)
-extern void Powerstep01_Board_ReleaseReset(void *handle);
-///Reset the Powerstep01 reset pin (low logic level)
-extern void Powerstep01_Board_Reset(void *handle);
-///Write bytes to the Powerstep01s via SPI
-extern uint8_t Powerstep01_Board_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @param speed in steps/s.
+ * @retval None.
+ */
+ virtual void run(direction_t direction, float speed)
+ {
+ Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), speed_steps_s_to_reg_val(speed));
+ }
+
+ /**
+ * @brief Sends commands stored previously in the queue by queue_commands.
+ * @param None.
+ * @retval None.
+ */
+ virtual void send_queued_commands(void)
+ {
+ Powerstep01_SendQueuedCommands();
+ }
+
+ /**
+ * @brief Setting a parameter with an input float value.
+ * @param param Register adress.
+ * @param value Float value to convert and set into the register.
+ * @retval TRUE if param and value are valid, FALSE otherwise
+ * @note parameter can be one of the following:
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_INT_SPD
+ * + POWERSTEP01_K_THERM
+ * + POWERSTEP01_OCD_TH
+ * + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_KVAL_HOLD
+ * + POWERSTEP01_KVAL_RUN
+ * + POWERSTEP01_KVAL_ACC
+ * + POWERSTEP01_KVAL_DEC
+ * + POWERSTEP01_ST_SLP
+ * + POWERSTEP01_FN_SLP_ACC
+ * + POWERSTEP01_FN_SLP_DEC
+ * + POWERSTEP01_TVAL_HOLD
+ * + POWERSTEP01_TVAL_RUN
+ * + POWERSTEP01_TVAL_ACC
+ * + POWERSTEP01_TVAL_DEC
+ * + POWERSTEP01_TON_MIN
+ * + POWERSTEP01_TOFF_MIN
+ */
+ virtual bool set_analog_value(unsigned int param, float value)
+ {
+ return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
+ }
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register adress.
+ * @param value The parameter's value.
+ * @retval None.
+ * parameter can be one of the following:
+ * + POWERSTEP01_ABS_POS
+ * + POWERSTEP01_EL_POS
+ * + POWERSTEP01_MARK
+ * + POWERSTEP01_ACC
+ * + POWERSTEP01_DEC
+ * + POWERSTEP01_MAX_SPEED
+ * + POWERSTEP01_MIN_SPEED
+ * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
+ * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
+ * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
+ * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
+ * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
+ * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
+ * (voltage mode) + POWERSTEP01_INT_SPD
+ * (voltage mode) + POWERSTEP01_ST_SLP
+ * (current mode) + POWERSTEP01_T_FAST
+ * (voltage mode) + POWERSTEP01_FN_SLP_ACC
+ * (current mode) + POWERSTEP01_TON_MIN
+ * (voltage mode) + POWERSTEP01_FN_SLP_DEC
+ * (current mode) + POWERSTEP01_TOFF_MIN
+ * (voltage mode) + POWERSTEP01_K_THERM
+ * + POWERSTEP01_ADC_OUT
+ * + POWERSTEP01_OCD_TH
+ * (voltage mode) + POWERSTEP01_STALL_TH
+ * + POWERSTEP01_FS_SPD
+ * + POWERSTEP01_STEP_MODE
+ * + POWERSTEP01_ALARM_EN
+ * + POWERSTEP01_GATECFG1
+ * + POWERSTEP01_GATECFG2
+ * + POWERSTEP01_CONFIG
+ */
+ virtual void set_raw_parameter(unsigned int parameter, unsigned int value)
+ {
+ Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
+ }
+
+ /**
+ * @brief Enable the step clock mode.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ virtual void step_clock_mode_enable(direction_t direction)
+ {
+ Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
+ }
+
+ /**
+ * @brief Setting the frequency of PWM.
+ * The frequency controls directly the speed of the device.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ virtual void step_clock_start(uint16_t frequency)
+ {
+ /* Computing the period of PWM. */
+ double period = 1.0f / frequency;
+
+ /* Setting the period and the duty-cycle of PWM. */
+ pwm.period(period);
+ pwm.write(0.5f);
+ }
+
+ /**
+ * @brief Stopping the PWM.
+ * @param None.
+ * @retval None.
+ */
+ virtual void step_clock_stop(void)
+ {
+ pwm.write(0.0f);
+ }
+
+ /**
+ * @brief Public static functions
+ */
+
+ static uint8_t get_nb_devices(void)
+ {
+ return numberOfDevices;
+ }
+
+ /**
+ * @brief To and from register parameter conversion functions
+ */
+
+ /**********************************************************
+ * @brief Convert the float formatted acceleration or
+ * deceleration into respectively an ACC or DEC register value
+ * @param[in] steps_s2 the acceleration or deceleration as
+ * steps/s^2, range 14.55 to 59590 steps/s^2
+ * @retval The acceleration or deceleration as steps/tick^2
+ **********************************************************/
+ static uint16_t acc_dec_steps_s2_to_reg_val(float steps_s2)
+ {
+ return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the ACC or DEC register value into step/s^2
+ * @param[in] regVal The ACC or DEC register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float acc_dec_reg_val_to_steps_s2(uint32_t regVal)
+ {
+ return (((float)(regVal))*14.5519152283f);
+ }
+
+ /**********************************************************
+ * @brief Converts BEMF compensation slope to values for ST_SLP,
+ * FN_SLP_ACC or FN_SLP_DEC register
+ * @param[in] percentage BEMF compensation slope percentage,
+ * range 0 to 0.4% (0.004) s/step
+ * @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
+ **********************************************************/
+ static uint8_t bemf_slope_perc_to_reg_val(float percentage)
+ {
+ return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from ST_SLP, FN_SLP_ACC or
+ * FN_SLP_DEC register to BEMF compensation slope percentage
+ * @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
+ * register value
+ * @retval BEMF compensation slope percentage
+ **********************************************************/
+ static float bemf_slope_reg_val_to_perc(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.00156862745098f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a FS_SPD
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t fs_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)((float)(steps_s)*0.065536f));
+ }
+
+ /**********************************************************
+ * @brief Convert the FS_SPD register value into step/s
+ * @param[in] regVal The FS_SPD register value
+ * @retval The full Step speed as steps/s
+ **********************************************************/
+ static float fs_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)regVal+0.999f)*15.258789f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a INT_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
+ * @retval The intersect speed as steps/tick
+ **********************************************************/
+ static uint16_t int_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the INT_SPEED register value into step/s
+ * @param[in] regVal The INT_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float int_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.0596045f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted thermal compensation
+ * factor into a K_THERM register value
+ * @param[in] compFactor the float formatted thermal
+ * compensation factor, range 1 to 1.46875
+ * @retval value for K_THERM register
+ **********************************************************/
+ static uint8_t k_therm_comp_to_reg_val(float compFactor)
+ {
+ return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the K_THERM register value into a float
+ * formatted thermal compensation factor
+ * @param[in] regVal The K_THERM register value
+ * @retval The float formatted thermal compensation factor
+ **********************************************************/
+ static float k_therm_reg_val_to_comp(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.03125f+1);
+ }
+
+ /**********************************************************
+ * @brief Converts voltage in percentage to values for KVAL_RUN,
+ * KVAL_HOLD, KVAL_ACC or KVAL_DEC register
+ * @param[in] percentage percentage of the power supply voltage
+ * applied to the motor windings, range 0.4% to 99.6%
+ * @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
+ * KVAL_DEC register
+ * @note The voltage applied is sinusoidal
+ **********************************************************/
+ static uint8_t k_val_perc_to_reg_val(float percentage)
+ {
+ return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
+ * or KVAL_DEC register to percentage
+ * @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
+ * or KVAL_DEC register value
+ * @retval percentage of the power supply voltage applied to
+ * the motor windings
+ * @note The voltage applied is sinusoidal
+ **********************************************************/
+ static float k_val_reg_val_to_perc(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.390625f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a MAX_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t max_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the MAX_SPEED register value into step/s
+ * @param[in] regVal The MAX_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float max_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*15.258789f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a MIN_SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint16_t min_spd_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the MIN_SPEED register value into step/s
+ * @param[in] regVal The MIN_SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float min_spd_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.238418579f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted speed into a SPEED
+ * register value
+ * @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
+ * @retval The speed as steps/tick
+ **********************************************************/
+ static uint32_t speed_steps_s_to_reg_val(float steps_s)
+ {
+ return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert the SPEED register value into step/s
+ * @param[in] regVal The SPEED register value
+ * @retval The speed as steps/s
+ **********************************************************/
+ static float speed_reg_val_to_steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.01490116119f);
+ }
+
+ /**********************************************************
+ * @brief Converts STALL or OCD Threshold voltage in mV to
+ * values for STALL_TH or OCD_TH register
+ * @param[in] mV voltage in mV, range 31.25mV to 1000mV
+ * @retval value for STALL_TH or OCD_TH register
+ **********************************************************/
+ static uint8_t stall_ocd_th_to_reg_val(float mV)
+ {
+ return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from STALL_TH or OCD_TH register
+ * to mV
+ * @param[in] regVal The STALL_TH or OCD_TH register value
+ * @retval voltage in mV
+ **********************************************************/
+ static float stall_ocd_reg_val_to_th(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*31.25f);
+ }
+
+ /**********************************************************
+ * @brief Converts voltage in mV to values for TVAL_RUN,
+ * TVAL_HOLD, TVAL_ACC or TVAL_DEC register
+ * @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
+ * @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
+ * TVAL_DEC register
+ * @note The voltage corresponds to a peak output current
+ * accross the external sense power resistor
+ **********************************************************/
+ static uint8_t t_val_ref_voltage_to_reg_val(float voltage_mV)
+ {
+ return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
+ * or TVAL_DEC register to mV
+ * @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
+ * or TVAL_DEC register value
+ * @retval voltage in mV
+ * @note The voltage corresponds to a peak output current
+ * accross the external sense power resistor
+ **********************************************************/
+ static float t_val_reg_val_to_ref_voltage(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*7.8125f);
+ }
+
+ /**********************************************************
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] tmin_us time in us, range 0.5us to 64us
+ * @retval value for TON_MIN register
+ **********************************************************/
+ static uint8_t t_min_time_to_reg_val(float tmin_us)
+ {
+ return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
+ }
+
+ /**********************************************************
+ * @brief Convert values for TON_MIN or TOFF_MIN register to time in us
+ * @param[in] regVal The TON_MIN or TOFF_MIN register value
+ * @retval time in us
+ **********************************************************/
+ static float t_min_reg_val_to_time(uint32_t regVal)
+ {
+ return (((float)(regVal+1))*0.5f);
+ }
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * 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. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void attach_feature_irq(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void enable_feature_irq(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void disable_feature_irq(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_flag_irq(void (*fptr)(void))
+ {
+ flag_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_flag_irq(void)
+ {
+ flag_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_flag_irq(void)
+ {
+ flag_irq.disable_irq();
+ }
+
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_busy_irq(void (*fptr)(void))
+ {
+ busy_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_busy_irq(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_busy_irq(void)
+ {
+ busy_irq.disable_irq();
+ }
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * status_t COMPONENT_get_value(float *f); //(1) *
+ * status_t COMPONENT_enable_feature(void); //(2) *
+ * status_t COMPONENT_compute_average(void); //(3) *
+ *------------------------------------------------------------------------*/
+ status_t Powerstep01_Init(void *init);
+ status_t Powerstep01_ReadID(uint8_t *id);
+ void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
+ uint8_t Powerstep01_CheckBusyHw(void);
+ uint8_t Powerstep01_CheckStatusHw(void);
+ uint16_t Powerstep01_CmdGetStatus(void);
+ void Powerstep01_CmdGoHome(void);
+ void Powerstep01_CmdGoMark(void);
+ void Powerstep01_CmdGoTo(int32_t targetPosition);
+ void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
+ void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
+ void Powerstep01_CmdHardHiZ(void);
+ void Powerstep01_CmdHardStop(void);
+ void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
+ void Powerstep01_CmdNop(void);
+ void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
+ void Powerstep01_CmdResetDevice(void);
+ void Powerstep01_CmdResetPos(void);
+ void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
+ void Powerstep01_CmdSoftHiZ(void);
+ void Powerstep01_CmdSoftStop(void);
+ void Powerstep01_CmdStepClock(motorDir_t direction);
+ void Powerstep01_ErrorHandler(uint16_t error);
+ void Powerstep01_FetchAndClearAllStatus(void);
+ uint16_t Powerstep01_GetFetchedStatus(void);
+ uint32_t Powerstep01_GetFwVersion(void);
+ int32_t Powerstep01_GetMark(void);
+ int32_t Powerstep01_GetPosition(void);
+ bool Powerstep01_IsDeviceBusy(void);
+ uint16_t Powerstep01_ReadStatusRegister(void);
+ bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
+ void Powerstep01_SetHome(void);
+ void Powerstep01_SetMark(void);
+ void Powerstep01_WaitForAllDevicesNotBusy(void);
+ void Powerstep01_WaitWhileActive(void);
+
+ /**
+ * @brief To and from register parameter conversion functions
+ */
+ int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
+
+ /**
+ * @brief Functions to initialize the registers
+ */
+ void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_init_u_t *initPrm);
+ void Powerstep01_SetRegisterToPredefinedValues(void);
+
+ /**
+ * @brief Functions to get and set parameters using digital or analog values
+ */
+ uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
+ void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
+ float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
+ void Powerstep01_QueueCommands(uint8_t command, int32_t value);
+ void Powerstep01_SendCommand(uint8_t command, uint32_t value);
+ void Powerstep01_SendQueuedCommands(void);
+ bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
+ void Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+
+ /**
+ * @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 ***/
+
+ /**
+ * @brief Utility function to read data from Powerstep01.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param NumBytesToRead number of bytes to read.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ {
+ if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to Powerstep01.
+ * @param pBuffer pointer to the buffer of data to send.
+ * @param NumBytesToWrite number of bytes to write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ {
+ if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
+ return COMPONENT_ERROR;
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to read and write data from/to Powerstep01 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param pBufferToWrite pointer to the buffer of data to send.
+ * @param NumBytes number of bytes to read and write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ 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;
+ return COMPONENT_OK;
+ }
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Making the CPU wait.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_Delay(uint32_t delay)
+ {
+ wait_ms(delay);
+ }
+
+ /**
+ * @brief Enabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_EnableIrq(void)
+ {
+ __enable_irq();
+ }
+
+ /**
+ * @brief Disabling interrupts.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_DisableIrq(void)
+ {
+ __disable_irq();
+ }
+
+ /**
+ * @brief Initialising the PWM.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_StepClockInit(void) {}
+
+ /**
+ * @brief Exit the device from reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_Releasereset(void)
+ {
+ standby_reset = 1;
+ }
+
+ /**
+ * @brief Put the device in reset mode.
+ * @param None.
+ * @retval None.
+ */
+ void Powerstep01_Board_reset(void)
+ {
+ standby_reset = 0;
+ }
+
+ /**
+ * @brief Writing and reading bytes to/from the component through the SPI at the same time.
+ * @param pByteToTransmit pointer to the buffer of data to send.
+ * @param[out] pReceivedByte pointer to the buffer to read data into.
+ * @retval "0" in case of success, "1" otherwise.
+ */
+ uint8_t Powerstep01_Board_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+ {
+ return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1);
+ }
-/**
- * @}
- */
+ /*** Component's Instance Variables ***/
- /**
- * @}
- */
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+ /* 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;
+
+ /* Pulse Width Modulation pin. */
+ PwmOut pwm;
- /**
- * @}
- */
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
+ /* Configuration. */
+ DigitalOut ssel;
+
+ /* IO Device. */
+ DevSPI &dev_spi;
+
+ /* 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;
-#ifdef __cplusplus
- }
-#endif
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ void (*errorHandlerCallback)(uint16_t error);
+ uint8_t deviceInstance;
-#endif /* #ifndef _POWERSTEP01_H_INCLUDED */
+ /* Static data. */
+ static uint8_t numberOfDevices;
+ static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+ static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+public:
+
+ /* Static data. */
+ static bool spiPreemptionByIsr;
+ static bool isrFlag;
+
+};
+
+#endif // __POWERSTEP01_CLASS_H
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
X-NUCLEO-IHM03A1 High Power Stepper Motor Driver