ST
Expansion SW library to control high power stepper motor(s) using IHM03A1 expansion board(s) with Powerstep01 driver.
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.
Revision 0:00a3c3f5a8f0, committed 2016-04-05
- Comitter:
- nucleosam
- Date:
- Tue Apr 05 15:18:56 2016 +0000
- Child:
- 1:8ce2a5d6fbf8
- Commit message:
- Initial version
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/component.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,93 @@
+/**
+ ******************************************************************************
+ * @file component.h
+ * @author AST
+ * @version V1.0.0
+ * @date 1 April 2015
+ * @brief Generic header file containing a generic component's definitions
+ * and I/O functions.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __COMPONENT_H
+#define __COMPONENT_H
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @brief Component's Context structure definition.
+ */
+typedef struct
+{
+ /* Identity. */
+ uint8_t who_am_i;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique identifier for each component, which */
+ /* should be the "who_am_i" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Type. */
+ uint8_t type;
+
+ /* Configuration. */
+ uint8_t address;
+
+ /* Pointer to the Data. */
+ void *pData;
+
+ /* Pointer to the Virtual Table. */
+ void *pVTable;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique virtual table for each component, which */
+ /* should be the "pVTable" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Pointer to the Extended Virtual Table. */
+ void *pExtVTable;
+} Handle_t;
+
+/**
+ * @brief Component's Status enumerator definition.
+ */
+typedef enum
+{
+ COMPONENT_OK = 0,
+ COMPONENT_ERROR,
+ COMPONENT_TIMEOUT,
+ COMPONENT_NOT_IMPLEMENTED
+} Status_t;
+
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Common/motor.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,446 @@
+/**
+ ******************************************************************************
+ * @file motor.h
+ * @author IPC Rennes
+ * @version V1.5.0
+ * @date January 25, 2016
+ * @brief This file contains all the functions prototypes for motor drivers.
+ ******************************************************************************
+ * @attention
+ *
+ * <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:
+ * 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 __MOTOR_H
+#define __MOTOR_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include <stdint.h>
+#include "component.h"
+
+/* Definitions ---------------------------------------------------------------*/
+/// boolean for false condition
+#ifndef FALSE
+#define FALSE (0)
+#endif
+/// boolean for true condition
+#ifndef TRUE
+#define TRUE (1)
+#endif
+
+/* Types ---------------------------------------------------------------------*/
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @defgroup Motor Motor
+ * @{
+ */
+
+/** @defgroup Motor_Exported_Types Motor Exported Types
+ * @{
+ */
+
+/** @defgroup Device_Direction_Options Device Direction Options
+ * @{
+ */
+/// Direction options
+typedef enum {
+ BACKWARD = 0,
+ FORWARD = 1,
+ UNKNOW_DIR = ((uint8_t)0xFF)
+} motorDir_t;
+/**
+ * @}
+ */
+
+/** @defgroup Device_Action_Options Device Action Options
+ * @{
+ */
+/// Action options
+typedef enum {
+ ACTION_RESET = ((uint8_t)0x00),
+ ACTION_COPY = ((uint8_t)0x08)
+} motorAction_t;
+/**
+ * @}
+ */
+
+/** @defgroup Device_States Device States
+ * @{
+ */
+/// Device states
+typedef enum {
+ ACCELERATING = 0,
+ DECELERATINGTOSTOP = 1,
+ DECELERATING = 2,
+ STEADY = 3,
+ INDEX_ACCEL = 4,
+ INDEX_RUN = 5,
+ INDEX_DECEL = 6,
+ INDEX_DWELL = 7,
+ INACTIVE = 8,
+ STANDBY = 9,
+ STANDBYTOINACTIVE = 10
+} motorState_t;
+/**
+ * @}
+ */
+
+/** @defgroup Device_Step_mode Device Step mode
+ * @{
+ */
+ /// Stepping options
+typedef enum {
+ STEP_MODE_FULL = ((uint8_t)0x00),
+ STEP_MODE_HALF = ((uint8_t)0x01),
+ STEP_MODE_1_4 = ((uint8_t)0x02),
+ STEP_MODE_1_8 = ((uint8_t)0x03),
+ STEP_MODE_1_16 = ((uint8_t)0x04),
+ STEP_MODE_1_32 = ((uint8_t)0x05),
+ STEP_MODE_1_64 = ((uint8_t)0x06),
+ STEP_MODE_1_128 = ((uint8_t)0x07),
+ STEP_MODE_1_256 = ((uint8_t)0x08),
+ STEP_MODE_UNKNOW = ((uint8_t)0xFE),
+ STEP_MODE_WAVE = ((uint8_t)0xFF)
+} motorStepMode_t;
+
+/**
+ * @}
+ */
+
+/** @defgroup Decay_mode Decay mode
+ * @{
+ */
+/// Decay Mode
+typedef enum {
+ SLOW_DECAY = 0,
+ FAST_DECAY = 1,
+ UNKNOW_DECAY = ((uint8_t)0xFF)
+} motorDecayMode_t;
+/**
+ * @}
+ */
+
+/** @defgroup Stop_mode Stop mode
+ * @{
+ */
+/// Stop mode
+typedef enum
+{
+ HOLD_MODE = 0,
+ HIZ_MODE = 1,
+ STANDBY_MODE = 2,
+ UNKNOW_STOP_MODE = ((uint8_t)0xFF)
+} motorStopMode_t;
+/**
+ * @}
+ */
+
+/** @defgroup Torque_mode Torque mode
+ * @{
+ */
+/// Torque mode
+typedef enum
+{
+ ACC_TORQUE = 0,
+ DEC_TORQUE = 1,
+ RUN_TORQUE = 2,
+ HOLD_TORQUE = 3,
+ CURRENT_TORQUE = 4,
+ UNKNOW_TORQUE = ((uint8_t)0xFF)
+} motorTorqueMode_t;
+/**
+ * @}
+ */
+
+/** @defgroup Dual_Full_Bridge_Configuration Dual Full Bridge Configuration
+ * @{
+ */
+///Dual full bridge configurations for brush DC motors
+typedef enum {
+ PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 0,
+ PARALLELING_NONE___1_BIDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 1,
+ PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 2,
+ PARALLELING_NONE___2_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 3,
+ PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__1_BIDIR_MOTOR_BRIDGE_B = 4,
+ PARALLELING_IN1A_IN2A__1_UNDIR_MOTOR_BRIDGE_A__2_UNDIR_MOTOR_BRIDGE_B = 5,
+ PARALLELING_IN1B_IN2B__1_BIDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 6,
+ PARALLELING_IN1B_IN2B__2_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 7,
+ PARALLELING_IN1A_IN2A__IN1B_IN2B__1_UNDIR_MOTOR_BRIDGE_A__1_UNDIR_MOTOR_BRIDGE_B = 8,
+ PARALLELING_IN1A_IN2A__IN1B_IN2B__1_BIDIR_MOTOR = 9,
+ PARALLELING_IN1A_IN1B__IN2A_IN2B__1_UNDIR_MOTOR_BRIDGE_1A__1_UNDIR_MOTOR_BRIDGE_2A = 10,
+ PARALLELING_IN1A_IN1B__IN2A_IN2B__1_BIDIR_MOTOR = 11,
+ PARALLELING_ALL_WITH_IN1A___1_UNDIR_MOTOR = 12,
+ PARALLELING_END_ENUM = 13
+} dualFullBridgeConfig_t;
+/**
+ * @}
+ */
+
+/** @defgroup Motor_Driver_Structure Motor Driver Structure
+ * @{
+ */
+/**
+ * @brief MOTOR driver virtual table structure definition.
+ */
+typedef struct
+{
+ /* ACTION ----------------------------------------------------------------*
+ * Declare here the component's generic functions. *
+ * Tag this group of functions with the " Generic " C-style comment. *
+ * A component's interface has to define at least the two generic *
+ * functions provided here below within the "Example" section, as the *
+ * first and second functions of its Virtual Table. They have to be *
+ * specified exactly in the given way. *
+ * *
+ * Example: *
+ * Status_t (*Init) (void *handle, void *init); *
+ * Status_t (*ReadID) (void *handle, uint8_t *id); *
+ *------------------------------------------------------------------------*/
+ /* Generic */
+ Status_t (*Init)(void *handle, void *init);
+ Status_t (*ReadID)(void *handle, uint8_t *id);
+ /* ACTION ----------------------------------------------------------------*
+ * Declare here the component's interrupts related functions. *
+ * Tag this group of functions with the " Interrupts " C-style comment. *
+ * Do not specify any function if not required. *
+ * *
+ * Example: *
+ * void (*ConfigIT) (void *handle, int a); *
+ *------------------------------------------------------------------------*/
+ /* Interrupts */
+ /// Function pointer to AttachErrorHandler
+ void (*AttachErrorHandler)(void *handle, void (*callback)(void *handle, uint16_t error));
+ /// Function pointer to AttachFlagInterrupt
+ void (*AttachFlagInterrupt)(void *handle, void (*callback)(void *handle));
+ /// Function pointer to AttachBusyInterrupt
+ void (*AttachBusyInterrupt)(void *handle, void (*callback)(void *handle));
+ /// Function pointer to FlagInterruptHandler
+ void (*FlagInterruptHandler)(void *handle);
+ /* ACTION ----------------------------------------------------------------*
+ * Declare here the component's specific functions. *
+ * Tag this group of functions with the " Specific " C-style comment. *
+ * Do not specify any function if not required. *
+ * *
+ * Example: *
+ * Status_t (*GetValue) (void *handle, float *f); *
+ *------------------------------------------------------------------------*/
+ /* Specific */
+ /// Function pointer to GetAcceleration
+ uint16_t (*GetAcceleration)(void *handle);
+ /// Function pointer to GetCurrentSpeed
+ uint16_t (*GetCurrentSpeed)(void *handle);
+ /// Function pointer to GetDeceleration
+ uint16_t (*GetDeceleration)(void *handle);
+ /// Function pointer to GetDeviceState
+ motorState_t(*GetDeviceState)(void *handle);
+ /// Function pointer to GetFwVersion
+ uint8_t (*GetFwVersion)(void *handle);
+ /// Function pointer to GetMark
+ int32_t (*GetMark)(void *handle);
+ /// Function pointer to GetMaxSpeed
+ uint16_t (*GetMaxSpeed)(void *handle);
+ /// Function pointer to GetMinSpeed
+ uint16_t (*GetMinSpeed)(void *handle);
+ /// Function pointer to GetPosition
+ int32_t (*GetPosition)(void *handle);
+ /// Function pointer to GoHome
+ void (*GoHome)(void *handle);
+ /// Function pointer to GoMark
+ void (*GoMark)(void *handle);
+ /// Function pointer to GoTo
+ void (*GoTo)(void *handle, int32_t targetPosition);
+ /// Function pointer to HardStop
+ void (*HardStop)(void *handle);
+ /// Function pointer to Move
+ void (*Move)(void *handle, motorDir_t direction, uint32_t stepCount);
+ /// Function pointer to ResetAllDevices
+ //void (*ResetAllDevices)(void *handle);
+ /// Function pointer to Run
+ void (*Run)(void *handle, motorDir_t direction);
+ /// Function pointer to SetAcceleration
+ bool (*SetAcceleration)(void *handle, uint16_t newAcc);
+ /// Function pointer to SetDeceleration
+ bool (*SetDeceleration)(void *handle, uint16_t newDec);
+ /// Function pointer to SetHome
+ void (*SetHome)(void *handle);
+ /// Function pointer to SetMark
+ void (*SetMark)(void *handle);
+ /// Function pointer to SetMaxSpeed
+ bool (*SetMaxSpeed)(void *handle, uint16_t newMaxSpeed);
+ /// Function pointer to SetMinSpeed
+ bool (*SetMinSpeed)(void *handle, uint16_t newMinSpeed);
+ /// Function pointer to SoftStop
+ bool (*SoftStop)(void *handle);
+ /// Function pointer to StepClockHandler
+ void (*StepClockHandler)(void *handle);
+ /// Function pointer to WaitWhileActive
+ void (*WaitWhileActive)(void *handle);
+ /// Function pointer to CmdDisable
+ void (*CmdDisable)(void *handle);
+ /// Function pointer to CmdEnable
+ void (*CmdEnable)(void *handle);
+ /// Function pointer to CmdGetParam
+ uint32_t (*CmdGetParam)(void *handle, uint32_t param);
+ /// Function pointer to CmdGetStatus
+ uint16_t (*CmdGetStatus)(void *handle);
+ /// Function pointer to CmdNop
+ void (*CmdNop)(void *handle);
+ /// Function pointer to CmdSetParam
+ void (*CmdSetParam)(void *handle, uint32_t param, uint32_t value);
+ /// Function pointer to ReadStatusRegister
+ uint16_t (*ReadStatusRegister)(void *handle);
+ /// Function pointer to ReleaseReset
+ void (*ReleaseReset)(void *handle);
+ /// Function pointer to Reset
+ void (*Reset)(void *handle);
+ /// Function pointer to SelectStepMode
+ void (*SelectStepMode)(void *handle, motorStepMode_t);
+ /// Function pointer to SetDirection
+ void (*SetDirection)(void *handle, motorDir_t direction);
+ /// Function pointer to CmdGoToDir
+ void (*CmdGoToDir)(void *handle, motorDir_t direction, int32_t targetPosition);
+ /// Function pointer to CheckBusyHw
+ uint8_t (*CheckBusyHw)(void *handle);
+ /// Function pointer to CheckStatusHw
+ uint8_t (*CheckStatusHw)(void *handle);
+ /// Function pointer to CmdGoUntil
+ void (*CmdGoUntil)(void *handle, motorAction_t action, motorDir_t direction, uint32_t targetPosition);
+ /// Function pointer to CmdHardHiZ
+ void (*CmdHardHiZ)(void *handle);
+ /// Function pointer to CmdReleaseSw
+ void (*CmdReleaseSw)(void *handle, motorAction_t action, motorDir_t direction);
+ /// Function pointer to CmdResetDevice
+ void (*CmdResetDevice)(void *handle);
+ /// Function pointer to CmdResetPos
+ void (*CmdResetPos)(void *handle);
+ /// Function pointer to CmdRun
+ void (*CmdRun)(void *handle, motorDir_t direction, uint32_t targetPosition);
+ /// Function pointer to CmdSoftHiZ
+ void (*CmdSoftHiZ)(void *handle);
+ /// Function pointer to CmdStepClock
+ void (*CmdStepClock)(void *handle, motorDir_t direction);
+ /// Function pointer to FetchAndClearAllStatus
+ void (*FetchAndClearAllStatus)(void *handle);
+ /// Function pointer to GetFetchedStatus
+ uint16_t (*GetFetchedStatus)(void *handle);
+ /// Function pointer to GetNbDevices
+ uint8_t (*GetNbDevices)(void *handle);
+ /// Function pointer to IsDeviceBusy
+ bool (*IsDeviceBusy)(void *handle);
+ /// Function pointer to SendQueuedCommands
+ void (*SendQueuedCommands)(void *handle);
+ /// Function pointer to QueueCommands
+ void (*QueueCommands)(void *handle, uint8_t command, int32_t value);
+ /// Function pointer to WaitForAllDevicesNotBusy
+ void (*WaitForAllDevicesNotBusy)(void *handle);
+ /// Function pointer to ErrorHandler
+ void (*ErrorHandler)(void *handle, uint16_t error);
+ /// Function pointer to BusyInterruptHandler
+ void (*BusyInterruptHandler)(void *handle);
+ /// Function pointer to CmdSoftStop
+ void (*CmdSoftStop)(void *handle);
+ /// Function pointer to StartStepClock
+ void (*StartStepClock)(void *handle, uint16_t newFreq);
+ /// Function pointer to StopStepClock
+ void (*StopStepClock)(void *handle);
+ /// Function pointer to SetDualFullBridgeConfig
+ void (*SetDualFullBridgeConfig)(void *handle, uint8_t config);
+ /// Function pointer to GetBridgeInputPwmFreq
+ uint32_t (*GetBridgeInputPwmFreq)(void *handle);
+ /// Function pointer to SetBridgeInputPwmFreq
+ void (*SetBridgeInputPwmFreq)(void *handle, uint32_t newFreq);
+ /// Function pointer to SetStopMode
+ void (*SetStopMode)(void *handle, motorStopMode_t stopMode);
+ /// Function pointer to GetStopMode
+ motorStopMode_t (*GetStopMode)(void *handle);
+ /// Function pointer to SetDecayMode
+ void (*SetDecayMode)(void *handle, motorDecayMode_t decayMode);
+ /// Function pointer to GetDecayMode
+ motorDecayMode_t (*GetDecayMode)(void *handle);
+ /// Function pointer to GetStepMode
+ motorStepMode_t (*GetStepMode)(void *handle);
+ /// Function pointer to GetDirection
+ motorDir_t (*GetDirection)(void *handle);
+ /// Function pointer to ExitDeviceFromReset
+ void (*ExitDeviceFromReset)(void *handle);
+ /// Function pointer to SetTorque
+ void (*SetTorque)(void *handle, motorTorqueMode_t torqueMode, uint8_t torqueValue);
+ /// Function pointer to GetTorque
+ uint8_t (*GetTorque)(void *handle, motorTorqueMode_t torqueMode);
+ /// Function pointer to SetVRefFreq
+ void (*SetRefFreq)(void *handle, uint32_t newFreq);
+ /// Function pointer to GetVRefFreq
+ uint32_t (*GetRefFreq)(void *handle);
+ /// Function pointer to SetVRefDc
+ void (*SetRefDc)(void *handle, uint8_t newDc);
+ /// Function pointer to GetVRefDc
+ uint8_t (*GetRefDc)(void *handle);
+ /// Function pointer to SetNbDevices
+ bool (*SetNbDevices)(void *handle, uint8_t nbDevices);
+ /// Function pointer to set a parameter
+ bool (*SetAnalogValue)(void *handle, uint32_t param, float value);
+ /// Function pointer to get a parameter
+ float (*GetAnalogValue)(void *handle, uint32_t param);
+} MOTOR_VTable_t;
+/**
+* @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/Component_class.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,83 @@
+/**
+ ******************************************************************************
+ * @file Component_class.h
+ * @author AST
+ * @version V1.0.0
+ * @date April 13th, 2015
+ * @brief This file contains the abstract class describing the interface of a
+ * generic component.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 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 __COMPONENT_CLASS_H
+#define __COMPONENT_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/** An abstract class for Generic components.
+ */
+class Component
+{
+public:
+ /**
+ * @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[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;
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual unsigned int GetFwVersion(void) = 0;
+
+};
+
+#endif /* __COMPONENT_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/Interfaces/StepperMotor_class.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,291 @@
+/**
+ ******************************************************************************
+ * @file StepperMotor_class.h
+ * @author IPC Rennes
+ * @version V1.2.0
+ * @date March 18th, 2016
+ * @brief This file contains the abstract class describing the interface of a
+ * stepper-motor component.
+ ******************************************************************************
+ * @attention
+ *
+ * <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:
+ * 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 from recursive inclusion --------------------------------*/
+
+#ifndef __STEPPERMOTOR_CLASS_H
+#define __STEPPERMOTOR_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <Component_class.h>
+
+
+/* Classes ------------------------------------------------------------------*/
+
+/** An abstract class for StepperMotor components.
+ */
+class StepperMotor : public Component
+{
+public:
+ /**
+ * @brief Rotation modes.
+ */
+ typedef enum
+ {
+ BWD = 0, /* Backward. */
+ FWD = 1 /* Forward. */
+ } direction_t;
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void AttachErrorHandler(void (*fptr)(uint16_t error)) = 0;
+
+ /**
+ * @brief Getting the status.
+ * @param None.
+ * @retval The status.
+ */
+ virtual unsigned int GetStatus(void) = 0;
+
+ /**
+ * @brief Getting a parameter in the register format
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval The parameter's value in the register format (digital value)
+ */
+ virtual unsigned int GetParameter(unsigned int parameter) = 0;
+
+ /**
+ * @brief Getting a parameter value in float format
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval The parameter's value in float format (analog value)
+ */
+ virtual float GetAnalogValue(unsigned int parameter) = 0;
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int GetPosition(void) = 0;
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int GetMark(void) = 0;
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual unsigned int GetSpeed(void) = 0;
+
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
+ virtual unsigned int GetMaxSpeed(void) = 0;
+
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
+ virtual unsigned int GetMinSpeed(void) = 0;
+
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
+ virtual unsigned int GetAcceleration(void) = 0;
+
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
+ virtual unsigned int GetDeceleration(void) = 0;
+
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t GetDirection(void) = 0;
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value in the register format (digital value)
+ * @retval None.
+ */
+ virtual void SetParameter(unsigned int parameter, unsigned int value) = 0;
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value in a float format (analog value)
+ * @retval None.
+ */
+ virtual bool SetAnalogValue(unsigned int parameter, float value) = 0;
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SetHome(void) = 0;
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SetMark(void) = 0;
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool SetMaxSpeed(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool SetMinSpeed(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool SetAcceleration(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval TRUE if value is valid, FALSE otherwise.
+ */
+ virtual bool SetDeceleration(unsigned int speed) = 0;
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval None.
+ */
+ virtual void SetStepMode(motorStepMode_t step_mode) = 0;
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void GoTo(signed int position) = 0;
+
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void GoHome(void) = 0;
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void GoMark(void) = 0;
+
+ /**
+ * @brief Running the motor towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void Run(direction_t direction) = 0;
+
+ /**
+ * @brief Moving the motor towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
+ virtual void Move(direction_t direction, unsigned int steps) = 0;
+
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftStop(void) = 0;
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardStop(void) = 0;
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftHiZ(void) = 0;
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardHiZ(void) = 0;
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void WaitWhileActive(void) = 0;
+
+};
+
+#endif /* __STEPPERMOTOR_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/powerstep01/powerstep01.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,956 @@
+/**
+ ******************************************************************************
+ * @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
+ ******************************************************************************
+ * @attention
+ *
+ * <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:
+ * 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 _POWERSTEP01_H_INCLUDED
+#define _POWERSTEP01_H_INCLUDED
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* 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 version
+#define POWERSTEP01_FW_VERSION (2)
+
+/// 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 (0x7000)
+
+/// 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;
+
+
+/// 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; *
+ *----------------------------------------------------------------------------*/
+
+/**
+ * @}
+ */
+
+/* Functions -----------------------------------------------------------------*/
+
+/** @defgroup Powerstep01_Board_Linked_Functions Powerstep01 Board Linked Functions
+ * @{
+ */
+
+/* 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);
+
+
+/**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* #ifndef _POWERSTEP01_H_INCLUDED */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/powerstep01/powerstep01_class.cpp Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,1594 @@
+/**
+ ******************************************************************************
+ * @file powerstep01_class.cpp
+ * @author IPC Rennes
+ * @version V1.0.0
+ * @date March 18th, 2016
+ * @brief Powerstep01 motor driver (Microstepping controller with power MOSFETs)
+ * @note (C) COPYRIGHT 2016 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <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:
+ * 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.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "powerstep01_class.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Error while initialising the SPI. */
+#define POWERSTEP01_ERROR_0 (0x8000)
+
+/* Error of bad SPI transaction. */
+#define POWERSTEP01_ERROR_1 (0x8001)
+
+/* Variables ----------------------------------------------------------------*/
+
+/* Number of devices. */
+uint8_t POWERSTEP01::numberOfDevices = 0;
+
+/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
+bool POWERSTEP01::spiPreemptionByIsr = FALSE;
+bool POWERSTEP01::isrFlag = FALSE;
+
+/* SPI Transmission for Daisy-Chain Configuration. */
+uint8_t POWERSTEP01::spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t POWERSTEP01::spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**********************************************************
+ * @brief Starts the Powerstep01 library
+ * @param[in] pInit pointer to the initialization data
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+Status_t POWERSTEP01::Powerstep01_Init(void* pInit)
+{
+
+ /* configure the step clock */
+ Powerstep01_Board_StepClockInit();
+
+ /* Standby-reset deactivation */
+ Powerstep01_Board_ReleaseReset();
+
+ /* Let a delay after reset */
+ Powerstep01_Board_Delay(1);
+
+ if (pInit == 0)
+ {
+ // Set all registers to their predefined values
+ // from powerstep01_target_config.h
+ Powerstep01_SetRegisterToPredefinedValues();
+ }
+ else
+ {
+ Powerstep01_SetDeviceParamsToGivenValues((powerstep01_Init_u_t*) pInit);
+ }
+
+ // Put the Powerstep01 in HiZ state
+ Powerstep01_CmdHardHiZ();
+
+ Powerstep01_FetchAndClearAllStatus();
+
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Read id
+ * @param[in] id pointer to the identifier to be read.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+Status_t POWERSTEP01::Powerstep01_ReadID(uint8_t *id)
+{
+ *id = deviceInstance;
+
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library
+ * detects an error
+ * @param[in] callback Name of the callback to attach
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+ errorHandlerCallback = (void (*)(uint16_t error)) callback;
+}
+
+/**********************************************************
+ * @brief Issues the GetStatus command to the Powerstep01 device
+ * @retval Status Register value
+ * @note Once the GetStatus command is performed, the flags of the
+ * status register are reset.
+ * This is not the case when the status register is read with the
+ * GetParam command (via the functions Powerstep01_ReadStatusRegister
+ * or Powerstep01_CmdGetParam).
+ **********************************************************/
+uint16_t POWERSTEP01::Powerstep01_CmdGetStatus(void)
+{
+ uint16_t status = 0;
+ uint32_t loop;
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ bool itDisable = FALSE;
+
+ do
+ {
+ spiPreemptionByIsr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable Powerstep01_Board_EnableIrq if disable in previous iteration */
+ Powerstep01_Board_EnableIrq();
+ itDisable = FALSE;
+ }
+ for (loop = 0; loop < numberOfDevices; loop++)
+ {
+ spiTxBursts[0][loop] = POWERSTEP01_NOP;
+ spiTxBursts[1][loop] = POWERSTEP01_NOP;
+ spiTxBursts[2][loop] = POWERSTEP01_NOP;
+ spiTxBursts[3][loop] = POWERSTEP01_NOP;
+ spiRxBursts[0][loop] = 0;
+ spiRxBursts[1][loop] = 0;
+ spiRxBursts[2][loop] = 0;
+ spiRxBursts[3][loop] = 0;
+ }
+ spiTxBursts[0][spiIndex] = POWERSTEP01_GET_STATUS;
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ Powerstep01_Board_DisableIrq();
+ itDisable = TRUE;
+ } while (spiPreemptionByIsr); // check pre-emption by ISR
+ for (loop = 0; loop < POWERSTEP01_CMD_ARG_NB_BYTES_GET_STATUS + POWERSTEP01_RSP_NB_BYTES_GET_STATUS; loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0], &spiRxBursts[loop][0]);
+ }
+ status = (spiRxBursts[1][spiIndex] << 8) | (spiRxBursts[2][spiIndex]);
+ /* re-enable Powerstep01_Board_EnableIrq after SPI transfers*/
+ Powerstep01_Board_EnableIrq();
+
+ return (status);
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the home position (ABS_POSITION = 0)
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdGoHome(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_GO_HOME, 0);
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the mark position
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdGoMark(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_GO_MARK, 0);
+}
+
+/**********************************************************
+ * @brief Requests the motor to move to the specified position
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdGoTo(int32_t targetPosition)
+{
+ Powerstep01_SendCommand(POWERSTEP01_GO_TO, targetPosition);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Go To Dir command
+ * @param[in] direction movement direction
+ * @param[in] abs_pos absolute position where requested to move
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdGoToDir(motorDir_t direction,
+ int32_t abs_pos)
+{
+ Powerstep01_SendCommand((uint8_t)POWERSTEP01_GO_TO_DIR|
+ (uint8_t)direction, abs_pos);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Go Until command
+ * @param[in] action ACTION_RESET or ACTION_COPY
+ * @param[in] direction movement direction
+ * @param[in] speed in steps/tick
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdGoUntil(motorAction_t action,
+ motorDir_t direction,
+ uint32_t speed)
+{
+ Powerstep01_SendCommand(
+ (uint8_t)POWERSTEP01_GO_UNTIL|(uint8_t)action|(uint8_t)direction,
+ speed);
+}
+
+/**********************************************************
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @retval None
+ * @note The HardHiZ command immediately disables the power bridges
+ * (high impedance state) and raises the HiZ flag.
+ * When the motor is stopped, a HardHiZ command forces the bridges
+ * to enter high impedance state.
+ * This command can be given anytime and is immediately executed.
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdHardHiZ(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_HARD_HIZ, 0);
+}
+
+/**********************************************************
+ * @brief Immediatly stops the motor and disable the power bridge
+ * @retval None
+ * @note The HardStop command causes an immediate motor stop with
+ * infinite deceleration.
+ * When the motor is in high impedance state, a HardStop command
+ * forces the bridges to exit high impedance state; no motion is performed.
+ * This command can be given anytime and is immediately executed.
+ * This command keeps the BUSY flag low until the motor is stopped.
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdHardStop(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_HARD_STOP, 0);
+}
+
+/**********************************************************
+ * @brief Moves the motor of the specified number of steps
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdMove(motorDir_t direction,
+ uint32_t stepCount)
+{
+ Powerstep01_SendCommand((uint8_t)POWERSTEP01_MOVE|(uint8_t)direction,
+ stepCount);
+}
+
+/**********************************************************
+ * @brief Issues the Nop command to the Powerstep01 device
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdNop(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_NOP, 0);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Release SW command
+ * @param[in] action type of action to undertake when the SW
+ * input is forced high
+ * @param[in] direction movement direction
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdReleaseSw(motorAction_t action,
+ motorDir_t direction)
+{
+ Powerstep01_SendCommand((uint8_t)POWERSTEP01_RELEASE_SW|
+ (uint8_t)action|
+ (uint8_t)direction,
+ 0);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Reset Device command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdResetDevice(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_RESET_DEVICE, 0);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Reset Pos command
+ * @param[in] deviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdResetPos(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_RESET_POS, 0);
+}
+
+/**********************************************************
+ * @brief Runs the motor. It will accelerate from the min
+ * speed up to the max speed by using the device acceleration.
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] speed in steps/s
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdRun(motorDir_t direction, uint32_t speed)
+{
+ Powerstep01_SendCommand((uint8_t)POWERSTEP01_RUN|(uint8_t)direction, speed);
+}
+
+/**********************************************************
+ * @brief Stops the motor by using the device deceleration
+ * and disables the power bridges
+ * @retval None
+ * @note The SoftHiZ command disables the power bridges
+ * (high impedance state) after a deceleration to zero.
+ * The deceleration value used is the one stored in the DEC register.
+ * When bridges are disabled, the HiZ flag is raised.
+ * When the motor is stopped, a SoftHiZ command forces the bridges
+ * to enter high impedance state.
+ * This command can be given anytime and is immediately executed.
+ * This command keeps the BUSY flag low until the motor is stopped.
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdSoftHiZ(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_SOFT_HIZ, 0);
+}
+
+/**********************************************************
+ * @brief Stops the motor by using the device deceleration
+ * @retval None
+ * @note The SoftStop command causes an immediate deceleration
+ * to zero speed and a consequent motor stop.
+ * The deceleration value used is the one stored in the DEC register.
+ * When the motor is in high impedance state, a SoftStop
+ * command forces the bridges to exit from high impedance state.
+ * No motion is performed.
+ * This command can be given anytime and is immediately executed.
+ * This command keeps the BUSY flag low until the motor is stopped.
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdSoftStop(void)
+{
+ Powerstep01_SendCommand(POWERSTEP01_SOFT_STOP, 0);
+}
+
+/******************************************************//**
+ * @brief Issues PowerStep01 Step Clock command
+ * @param[in] direction Movement direction (FORWARD, BACKWARD)
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_CmdStepClock(motorDir_t direction)
+{
+ Powerstep01_SendCommand((uint8_t)POWERSTEP01_STEP_CLOCK|(uint8_t)direction,
+ 0);
+}
+
+/**********************************************************
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_ErrorHandler(uint16_t error)
+{
+ if (errorHandlerCallback != 0)
+ {
+ (void) errorHandlerCallback(error);
+ }
+ else
+ {
+ /* Aborting the program. */
+ exit(EXIT_FAILURE);
+ }
+}
+
+/******************************************************//**
+ * @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
+ *********************************************************/
+void POWERSTEP01::Powerstep01_FetchAndClearAllStatus(void)
+{
+ uint8_t loop;
+
+ for (loop = 0; loop < numberOfDevices; loop++)
+ {
+ spiTxBursts[0][loop] = POWERSTEP01_GET_STATUS;
+ spiTxBursts[1][loop] = POWERSTEP01_NOP;
+ spiTxBursts[2][loop] = POWERSTEP01_NOP;
+ spiTxBursts[3][loop] = POWERSTEP01_NOP;
+ spiRxBursts[0][loop] = 0;
+ spiRxBursts[1][loop] = 0;
+ spiRxBursts[2][loop] = 0;
+ spiRxBursts[3][loop] = 0;
+ }
+ for (loop = 0;
+ loop < POWERSTEP01_CMD_ARG_NB_BYTES_GET_STATUS +
+ POWERSTEP01_RSP_NB_BYTES_GET_STATUS;
+ loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0], &spiRxBursts[loop][0]);
+ }
+}
+
+/******************************************************//**
+ * @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
+ *********************************************************/
+uint16_t POWERSTEP01::Powerstep01_GetFetchedStatus(void)
+{
+ uint16_t status = 0;
+ if (numberOfDevices > deviceInstance)
+ {
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ status = (spiRxBursts[1][spiIndex] << 8) | (spiRxBursts[2][spiIndex]);
+ }
+ return (status);
+}
+
+/**********************************************************
+ * @brief Returns the FW version of the library
+ * @retval POWERSTEP01_FW_VERSION
+ **********************************************************/
+uint8_t POWERSTEP01::Powerstep01_GetFwVersion(void)
+{
+ return (POWERSTEP01_FW_VERSION);
+}
+
+/**********************************************************
+ * @brief Returns the mark position device
+ * @retval Mark register value converted in a 32b signed integer
+ **********************************************************/
+int32_t POWERSTEP01::Powerstep01_GetMark(void)
+{
+ return Powerstep01_ConvertPosition(Powerstep01_CmdGetParam(POWERSTEP01_MARK));
+}
+
+/**********************************************************
+ * @brief Returns the ABS_POSITION device
+ * @retval ABS_POSITION register value converted in a 32b signed integer
+ **********************************************************/
+int32_t POWERSTEP01::Powerstep01_GetPosition(void)
+{
+ return Powerstep01_ConvertPosition(
+ Powerstep01_CmdGetParam(POWERSTEP01_ABS_POS));
+}
+
+/**********************************************************
+ * @brief Checks if the device is busy
+ * by reading the Busy flag bit of its status Register
+ * This operation clears the status register
+ * @retval true if device is busy, false zero
+ *********************************************************/
+bool POWERSTEP01::Powerstep01_IsDeviceBusy(void)
+{
+ if(!(Powerstep01_CmdGetStatus() & POWERSTEP01_STATUS_BUSY))
+ {
+ return TRUE;
+ }
+ else
+ {
+ return FALSE;
+ }
+}
+
+/**********************************************************
+ * @brief Reads the Status Register value
+ * @retval Status register value
+ * @note The status register flags are not cleared
+ * at the difference with Powerstep01_CmdGetStatus()
+ **********************************************************/
+uint16_t POWERSTEP01::Powerstep01_ReadStatusRegister(void)
+{
+ return (Powerstep01_CmdGetParam(POWERSTEP01_STATUS));
+}
+
+/**********************************************************
+ * @brief Set the stepping mode
+ * @param[in] stepMode from full step to 1/128 microstep
+ * as specified in enum motorStepMode_t
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SelectStepMode(motorStepMode_t stepMode)
+{
+ uint8_t stepModeRegister;
+ powerstep01_StepSel_t powerstep01StepMode;
+
+ switch (stepMode)
+ {
+ case STEP_MODE_FULL:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1;
+ break;
+ case STEP_MODE_HALF:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_2;
+ break;
+ case STEP_MODE_1_4:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_4;
+ break;
+ case STEP_MODE_1_8:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_8;
+ break;
+ case STEP_MODE_1_16:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_16;
+ break;
+ case STEP_MODE_1_32:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_32;
+ break;
+ case STEP_MODE_1_64:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_64;
+ break;
+ case STEP_MODE_1_128:
+ default:
+ powerstep01StepMode = POWERSTEP01_STEP_SEL_1_128;
+ break;
+ }
+
+ /* Set the powerstep01 in HiZ state */
+ Powerstep01_CmdHardHiZ();
+
+ /* Read Step mode register and clear STEP_SEL field */
+ stepModeRegister = (uint8_t)(0xF8 & Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE)) ;
+
+ /* Apply new step mode */
+ Powerstep01_CmdSetParam(POWERSTEP01_STEP_MODE, stepModeRegister | (uint8_t)powerstep01StepMode);
+
+ /* Reset abs pos register */
+ Powerstep01_CmdResetPos();
+
+}
+
+/**********************************************************
+ * @brief Set current position to be the Home position (ABS pos set to 0)
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SetHome(void)
+{
+ Powerstep01_CmdSetParam(POWERSTEP01_ABS_POS, 0);
+}
+
+/**********************************************************
+ * @brief Sets current position to be the Mark position
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SetMark(void)
+{
+ Powerstep01_CmdSetParam(POWERSTEP01_MARK,
+ Powerstep01_CmdGetParam(POWERSTEP01_ABS_POS));
+}
+
+/**********************************************************
+ * @brief Locks until the device state becomes Inactive
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_WaitWhileActive(void)
+{
+ /* Wait while motor is running */
+ while (Powerstep01_IsDeviceBusy() != 0);
+}
+
+/**
+ * @brief To and from register parameter conversion functions
+ */
+
+/**********************************************************
+ * @brief Converts the ABS_POSITION register value to a 32b signed integer
+ * @param[in] abs_position_reg value of the ABS_POSITION register
+ * @retval operation_result 32b signed integer corresponding to the absolute position
+ **********************************************************/
+int32_t POWERSTEP01::Powerstep01_ConvertPosition(uint32_t abs_position_reg)
+{
+ int32_t operation_result;
+
+ if (abs_position_reg & POWERSTEP01_ABS_POS_SIGN_BIT_MASK)
+ {
+ /* Negative register value */
+ abs_position_reg = ~abs_position_reg;
+ abs_position_reg += 1;
+
+ operation_result = (int32_t) (abs_position_reg & POWERSTEP01_ABS_POS_VALUE_MASK);
+ operation_result = -operation_result;
+ }
+ else
+ {
+ operation_result = (int32_t) abs_position_reg;
+ }
+ return operation_result;
+}
+
+/**
+ * @brief Functions to initialize the registers
+ */
+
+/**********************************************************
+ * @brief Set the parameters of the device to values of initPrm structure
+ * @param[in] initPrm structure containing values to initialize the device
+ * parameters
+ * @retval None.
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SetDeviceParamsToGivenValues(
+ powerstep01_Init_u_t *initPrm)
+{
+ Powerstep01_CmdSetParam(POWERSTEP01_ABS_POS, 0);
+ Powerstep01_CmdSetParam(POWERSTEP01_EL_POS, 0);
+ Powerstep01_CmdSetParam(POWERSTEP01_MARK, 0);
+ Powerstep01_CmdSetParam(POWERSTEP01_ACC,
+ AccDec_Steps_s2_to_RegVal(initPrm->cm.cp.acceleration));
+ Powerstep01_CmdSetParam(POWERSTEP01_DEC,
+ AccDec_Steps_s2_to_RegVal(initPrm->cm.cp.deceleration));
+ Powerstep01_CmdSetParam(POWERSTEP01_MAX_SPEED,
+ MaxSpd_Steps_s_to_RegVal(initPrm->cm.cp.maxSpeed));
+ Powerstep01_CmdSetParam(POWERSTEP01_MIN_SPEED,
+ initPrm->cm.cp.lowSpeedOptimization|
+ MaxSpd_Steps_s_to_RegVal(initPrm->cm.cp.minSpeed));
+ Powerstep01_CmdSetParam(POWERSTEP01_FS_SPD,
+ initPrm->cm.cp.boostMode|
+ FSSpd_Steps_s_to_RegVal(initPrm->cm.cp.fullStepSpeed));
+ Powerstep01_CmdSetParam(POWERSTEP01_OCD_TH,
+ StallOcd_Th_to_RegVal(initPrm->cm.cp.ocdThreshold));
+ Powerstep01_CmdSetParam(POWERSTEP01_STEP_MODE,
+ (uint8_t)initPrm->cm.cp.syncClockSelection|
+ (uint8_t)initPrm->cm.cp.cmVmSelection|
+ (uint8_t)(uint8_t)initPrm->cm.cp.stepMode);
+ Powerstep01_CmdSetParam(POWERSTEP01_ALARM_EN,
+ initPrm->cm.cp.alarmsSelection);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG1,
+ (uint16_t)initPrm->cm.cp.iGate|
+ (uint16_t)initPrm->cm.cp.tcc|
+ (uint16_t)initPrm->cm.cp.tBoost|
+ (uint16_t)initPrm->cm.cp.wdEn);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG2,
+ (uint16_t)initPrm->cm.cp.tBlank|
+ (uint16_t)initPrm->cm.cp.tdt);
+ if (initPrm->cm.cp.cmVmSelection == POWERSTEP01_CM_VM_VOLTAGE)
+ {
+ //Voltage mode
+ Powerstep01_CmdSetParam(POWERSTEP01_INT_SPD,
+ IntSpd_Steps_s_to_RegVal(
+ initPrm->vm.intersectSpeed));
+ Powerstep01_CmdSetParam(POWERSTEP01_K_THERM,
+ KTherm_Comp_to_RegVal(
+ initPrm->vm.thermalCompensationFactor));
+ Powerstep01_CmdSetParam(POWERSTEP01_STALL_TH,
+ StallOcd_Th_to_RegVal(
+ initPrm->vm.stallThreshold));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_HOLD,
+ Kval_Perc_to_RegVal(
+ initPrm->vm.kvalHold));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_RUN,
+ Kval_Perc_to_RegVal(
+ initPrm->vm.kvalRun));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_ACC,
+ Kval_Perc_to_RegVal(
+ initPrm->vm.kvalAcc));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_DEC,
+ Kval_Perc_to_RegVal(
+ initPrm->vm.kvalDec));
+ Powerstep01_CmdSetParam(POWERSTEP01_ST_SLP,
+ BEMFslope_Perc_to_RegVal(
+ initPrm->vm.startSlope));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_ACC,
+ BEMFslope_Perc_to_RegVal(
+ initPrm->vm.accelerationFinalSlope));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_DEC,
+ BEMFslope_Perc_to_RegVal(
+ initPrm->vm.decelerationFinalSlope));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)initPrm->vm.oscClkSel|
+ (uint16_t)initPrm->vm.swMode |
+ (uint16_t)initPrm->vm.enVsComp|
+ (uint16_t)initPrm->vm.ocSd|
+ (uint16_t)initPrm->vm.uvloVal|
+ (uint16_t)initPrm->vm.vccVal|
+ (uint16_t)initPrm->vm.fPwmInt|
+ (uint16_t)initPrm->vm.fPwmDec);
+ }
+ else
+ {
+ // Current mode
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
+ Tval_Current_to_RegVal(
+ initPrm->cm.tvalHold));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
+ Tval_Current_to_RegVal(
+ initPrm->cm.tvalRun));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
+ Tval_Current_to_RegVal(
+ initPrm->cm.tvalAcc));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
+ Tval_Current_to_RegVal(
+ initPrm->cm.tvalDec));
+ Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
+ (uint8_t)initPrm->cm.toffFast|
+ (uint8_t)initPrm->cm.fastStep);
+ Powerstep01_CmdSetParam(POWERSTEP01_TON_MIN,
+ Tmin_Time_to_RegVal(
+ initPrm->cm.tonMin));
+ Powerstep01_CmdSetParam(POWERSTEP01_TOFF_MIN,
+ Tmin_Time_to_RegVal(
+ initPrm->cm.toffMin));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)initPrm->cm.oscClkSel|
+ (uint16_t)initPrm->cm.swMode|
+ (uint16_t)initPrm->cm.tqReg|
+ (uint16_t)initPrm->cm.ocSd|
+ (uint16_t)initPrm->cm.uvloVal|
+ (uint16_t)initPrm->cm.vccVal|
+ (uint16_t)initPrm->cm.tsw|
+ (uint16_t)initPrm->cm.predEn);
+ }
+}
+
+/**********************************************************
+ * @brief Sets the registers of the Powerstep01 to their predefined values
+ * from powerstep01_target_config.h
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SetRegisterToPredefinedValues(void)
+{
+ powerstep01_CmVm_t cmVm;
+
+ Powerstep01_CmdSetParam(
+ POWERSTEP01_ABS_POS,
+ 0);
+ Powerstep01_CmdSetParam(
+ POWERSTEP01_EL_POS,
+ 0);
+ Powerstep01_CmdSetParam(
+ POWERSTEP01_MARK,
+ 0);
+ switch (deviceInstance)
+ {
+ case 0:
+ cmVm = POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_0;
+ Powerstep01_CmdSetParam(POWERSTEP01_ACC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ACC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_DEC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_DEC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_MAX_SPEED,
+ MaxSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_MIN_SPEED,
+ POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_0|
+ MinSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_FS_SPD,
+ POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_0|
+ FSSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_OCD_TH,
+ (uint8_t)POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_0);
+ Powerstep01_CmdSetParam(POWERSTEP01_STEP_MODE,
+ (uint8_t)POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_0 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_0|
+ (uint8_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0);
+ Powerstep01_CmdSetParam(POWERSTEP01_ALARM_EN,
+ POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_0);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG1,
+ (uint16_t)POWERSTEP01_CONF_PARAM_IGATE_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TCC_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_0|
+ (uint16_t)POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_0);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG2,
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TDT_DEVICE_0);
+ // Voltage mode
+ if (cmVm == POWERSTEP01_CM_VM_VOLTAGE)
+ {
+ Powerstep01_CmdSetParam(POWERSTEP01_INT_SPD,
+ IntSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_K_THERM,
+ KTherm_Comp_to_RegVal(
+ POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_STALL_TH,
+ StallOcd_Th_to_RegVal(
+ POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_HOLD,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_RUN,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_ACC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_DEC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_ST_SLP,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_ACC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_DEC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_0);
+ }
+ else
+ {
+ // Current mode
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
+ (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_0 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_0);
+ Powerstep01_CmdSetParam(POWERSTEP01_TON_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_TOFF_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_0));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TSW_DEVICE_0 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PRED_DEVICE_0);
+ }
+ break;
+#if (MAX_NUMBER_OF_DEVICES > 1)
+ case 1:
+ cmVm = POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_1;
+ Powerstep01_CmdSetParam(POWERSTEP01_ACC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ACC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_DEC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_DEC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_MAX_SPEED,
+ MaxSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_MIN_SPEED,
+ POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_1|
+ MinSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_FS_SPD,
+ POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_1|
+ FSSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_OCD_TH,
+ (uint8_t)POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_1);
+ Powerstep01_CmdSetParam(POWERSTEP01_STEP_MODE,
+ (uint8_t)POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_1 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_1|
+ (uint8_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_1);
+ Powerstep01_CmdSetParam(POWERSTEP01_ALARM_EN,
+ POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_1);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG1,
+ (uint16_t)POWERSTEP01_CONF_PARAM_IGATE_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TCC_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_1|
+ (uint16_t)POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_1);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG2,
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TDT_DEVICE_1);
+ // Voltage mode
+ if (cmVm == POWERSTEP01_CM_VM_VOLTAGE)
+ {
+ Powerstep01_CmdSetParam(POWERSTEP01_INT_SPD,
+ IntSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_K_THERM,
+ KTherm_Comp_to_RegVal(
+ POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_STALL_TH,
+ StallOcd_Th_to_RegVal(
+ POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_HOLD,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_RUN,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_ACC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_DEC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_ST_SLP,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_ACC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_DEC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_1);
+ }
+ else
+ {
+ // Current mode
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
+ (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_1 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_1);
+ Powerstep01_CmdSetParam(POWERSTEP01_TON_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_TOFF_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_1));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TSW_DEVICE_1 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PRED_DEVICE_1);
+ }
+ break;
+#endif
+#if (MAX_NUMBER_OF_DEVICES > 2)
+ case 2:
+ cmVm = POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_2;
+ Powerstep01_CmdSetParam(POWERSTEP01_ACC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ACC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_DEC,
+ AccDec_Steps_s2_to_RegVal(
+ POWERSTEP01_CONF_PARAM_DEC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_MAX_SPEED,
+ MaxSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_MIN_SPEED,
+ POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_2|
+ MinSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_FS_SPD,
+ POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_2|
+ FSSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_OCD_TH,
+ (uint8_t)POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_2);
+ Powerstep01_CmdSetParam(POWERSTEP01_STEP_MODE,
+ (uint8_t)POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_2 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_2|
+ (uint8_t)POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_2);
+ Powerstep01_CmdSetParam(POWERSTEP01_ALARM_EN,
+ POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_2);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG1,
+ (uint16_t)POWERSTEP01_CONF_PARAM_IGATE_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TCC_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_2|
+ (uint16_t)POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_2);
+ Powerstep01_CmdSetParam(POWERSTEP01_GATECFG2,
+ (uint16_t)POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TDT_DEVICE_2);
+ // Voltage mode
+ if (cmVm == POWERSTEP01_CM_VM_VOLTAGE)
+ {
+ Powerstep01_CmdSetParam(POWERSTEP01_INT_SPD,
+ IntSpd_Steps_s_to_RegVal(
+ POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_K_THERM,
+ KTherm_Comp_to_RegVal(
+ POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_STALL_TH,
+ StallOcd_Th_to_RegVal(
+ POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_HOLD,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_RUN,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_ACC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_KVAL_DEC,
+ Kval_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_ST_SLP,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_ACC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_FN_SLP_DEC,
+ BEMFslope_Perc_to_RegVal(
+ POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_2);
+ }
+ else
+ {
+ // Current mode
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_HOLD,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_RUN,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_ACC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_TVAL_DEC,
+ Tval_Current_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_T_FAST,
+ (uint8_t)POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_2 |
+ (uint8_t)POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_2);
+ Powerstep01_CmdSetParam(POWERSTEP01_TON_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_TOFF_MIN,
+ Tmin_Time_to_RegVal(
+ POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_2));
+ Powerstep01_CmdSetParam(POWERSTEP01_CONFIG,
+ (uint16_t)POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_TSW_DEVICE_2 |
+ (uint16_t)POWERSTEP01_CONF_PARAM_PRED_DEVICE_2);
+ }
+ break;
+#endif
+ default: ;
+ }
+}
+
+/**
+ * @brief Functions to get and set parameters using digital or analog values
+ */
+
+/**********************************************************
+ * @brief Issues the GetParam command to the Powerstep01 device
+ * @param[in] parameter Register adress (POWERSTEP01_ABS_POS,
+ * POWERSTEP01_MARK,...)
+ * @retval Register value
+ **********************************************************/
+uint32_t POWERSTEP01::Powerstep01_CmdGetParam(powerstep01_Registers_t param)
+{
+
+ uint32_t spiRxData;
+ uint32_t loop;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ bool itDisable = FALSE;
+
+ do
+ {
+ spiPreemptionByIsr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable Powerstep01_Board_EnableIrq if disable in previous iteration */
+ Powerstep01_Board_EnableIrq();
+ itDisable = FALSE;
+ }
+ for (loop = 0; loop < numberOfDevices; loop++)
+ {
+ spiTxBursts[0][loop] = POWERSTEP01_NOP;
+ spiTxBursts[1][loop] = POWERSTEP01_NOP;
+ spiTxBursts[2][loop] = POWERSTEP01_NOP;
+ spiTxBursts[3][loop] = POWERSTEP01_NOP;
+ spiRxBursts[0][loop] = 0;
+ spiRxBursts[1][loop] = 0;
+ spiRxBursts[2][loop] = 0;
+ spiRxBursts[3][loop] = 0;
+ }
+ switch (param)
+ {
+ case POWERSTEP01_ABS_POS:
+ case POWERSTEP01_MARK:
+ case POWERSTEP01_SPEED:
+ spiTxBursts[0][spiIndex] = ((uint8_t)POWERSTEP01_GET_PARAM )| (param);
+ maxArgumentNbBytes = 3;
+ break;
+ case POWERSTEP01_EL_POS:
+ case POWERSTEP01_ACC:
+ case POWERSTEP01_DEC:
+ case POWERSTEP01_MAX_SPEED:
+ case POWERSTEP01_MIN_SPEED:
+ case POWERSTEP01_FS_SPD:
+ case POWERSTEP01_INT_SPD:
+ case POWERSTEP01_CONFIG:
+ case POWERSTEP01_GATECFG1:
+ case POWERSTEP01_STATUS:
+ spiTxBursts[1][spiIndex] = ((uint8_t)POWERSTEP01_GET_PARAM )| (param);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spiTxBursts[2][spiIndex] = ((uint8_t)POWERSTEP01_GET_PARAM )| (param);
+ maxArgumentNbBytes = 1;
+ }
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ Powerstep01_Board_DisableIrq();
+ itDisable = TRUE;
+ } while (spiPreemptionByIsr); // check pre-emption by ISR
+ for (loop = POWERSTEP01_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
+ loop < POWERSTEP01_CMD_ARG_MAX_NB_BYTES;
+ loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0],
+ &spiRxBursts[loop][0]);
+ }
+ spiRxData = ((uint32_t)spiRxBursts[1][spiIndex] << 16)|
+ (spiRxBursts[2][spiIndex] << 8) |
+ (spiRxBursts[3][spiIndex]);
+ /* re-enable Powerstep01_Board_EnableIrq after SPI transfers*/
+ Powerstep01_Board_EnableIrq();
+ return (spiRxData);
+}
+
+/**********************************************************
+ * @brief Issues the SetParam command to the PowerStep01 device
+ * @param[in] parameter Register adress (POWERSTEP01_ABS_POS,
+ * POWERSTEP01_MARK,...)
+ * @param[in] value Value to set in the register
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_CmdSetParam(powerstep01_Registers_t param,
+ uint32_t value)
+{
+ uint32_t loop;
+ uint8_t maxArgumentNbBytes = 0;
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ bool itDisable = FALSE;
+
+ do
+ {
+ spiPreemptionByIsr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable Powerstep01_Board_EnableIrq if disable in previous iteration */
+ Powerstep01_Board_EnableIrq();
+ itDisable = FALSE;
+ }
+ for (loop = 0;loop < numberOfDevices; loop++)
+ {
+ spiTxBursts[0][loop] = POWERSTEP01_NOP;
+ spiTxBursts[1][loop] = POWERSTEP01_NOP;
+ spiTxBursts[2][loop] = POWERSTEP01_NOP;
+ spiTxBursts[3][loop] = POWERSTEP01_NOP;
+ }
+ switch (param)
+ {
+ case POWERSTEP01_ABS_POS: ;
+ case POWERSTEP01_MARK:
+ spiTxBursts[0][spiIndex] = ((uint8_t)POWERSTEP01_SET_PARAM )| (param);
+ spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 3;
+ break;
+ case POWERSTEP01_EL_POS:
+ case POWERSTEP01_ACC:
+ case POWERSTEP01_DEC:
+ case POWERSTEP01_MAX_SPEED:
+ case POWERSTEP01_MIN_SPEED:
+ case POWERSTEP01_FS_SPD:
+ case POWERSTEP01_INT_SPD:
+ case POWERSTEP01_CONFIG:
+ case POWERSTEP01_GATECFG1:
+ spiTxBursts[1][spiIndex] = ((uint8_t)POWERSTEP01_SET_PARAM )| (param);
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ maxArgumentNbBytes = 2;
+ break;
+ default:
+ spiTxBursts[2][spiIndex] = ((uint8_t)POWERSTEP01_SET_PARAM )| (param);
+ maxArgumentNbBytes = 1;
+ }
+ spiTxBursts[3][spiIndex] = (uint8_t)(value);
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ Powerstep01_Board_DisableIrq();
+ itDisable = TRUE;
+ } while (spiPreemptionByIsr); // check pre-emption by ISR
+ /* SPI transfer */
+ for (loop = POWERSTEP01_CMD_ARG_MAX_NB_BYTES - 1 - maxArgumentNbBytes;
+ loop < POWERSTEP01_CMD_ARG_MAX_NB_BYTES;
+ loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0],&spiRxBursts[loop][0]);
+ }
+ /* re-enable Powerstep01_Board_EnableIrq after SPI transfers*/
+ Powerstep01_Board_EnableIrq();
+}
+
+/**********************************************************
+ * @brief Issues PowerStep01 Get Parameter command and convert the result to
+ * float value
+ * @param[in] param PowerStep01 register address
+ * @retval The parameter's float value.
+ *********************************************************/
+float POWERSTEP01::Powerstep01_GetAnalogValue(powerstep01_Registers_t param)
+{
+ bool voltageMode = ((POWERSTEP01_CM_VM_CURRENT&Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE))==0);
+ uint32_t registerValue = Powerstep01_CmdGetParam((powerstep01_Registers_t) param);
+ float value;
+ switch (param)
+ {
+ case POWERSTEP01_ABS_POS:
+ case POWERSTEP01_MARK:
+ value = (float) Powerstep01_ConvertPosition(registerValue);
+ break;
+ case POWERSTEP01_ACC:
+ case POWERSTEP01_DEC:
+ value = AccDec_RegVal_to_Steps_s2(registerValue);
+ break;
+ case POWERSTEP01_SPEED:
+ value = Speed_RegVal_to_Steps_s(registerValue);
+ break;
+ case POWERSTEP01_MAX_SPEED:
+ value = MaxSpd_RegVal_to_Steps_s(registerValue);
+ break;
+ case POWERSTEP01_MIN_SPEED:
+ registerValue &= POWERSTEP01_MIN_SPEED_MASK;
+ value = MinSpd_RegVal_to_Steps_s(registerValue);
+ break;
+ case POWERSTEP01_FS_SPD:
+ registerValue &= POWERSTEP01_FS_SPD_MASK;
+ value = FSSpd_RegVal_to_Steps_s(registerValue);
+ break;
+ case POWERSTEP01_INT_SPD:
+ value = IntSpd_RegVal_to_Steps_s(registerValue);
+ break;
+ case POWERSTEP01_K_THERM:
+ value = KTherm_RegVal_to_Comp(registerValue);
+ break;
+ case POWERSTEP01_OCD_TH:
+ case POWERSTEP01_STALL_TH:
+ value = StallOcd_RegVal_to_Th(registerValue);
+ break;
+ case POWERSTEP01_KVAL_HOLD: //POWERSTEP01_TVAL_HOLD
+ case POWERSTEP01_KVAL_RUN: //POWERSTEP01_TVAL_RUN
+ case POWERSTEP01_KVAL_ACC: //POWERSTEP01_TVAL_ACC
+ case POWERSTEP01_KVAL_DEC: //POWERSTEP01_TVAL_DEC
+ if (voltageMode!=FALSE) value = Kval_RegVal_to_Perc(registerValue);
+ else value = Kval_RegVal_to_Perc(registerValue);
+ break;
+ case POWERSTEP01_ST_SLP:
+ if (voltageMode==FALSE)
+ {
+ break;
+ }
+ case POWERSTEP01_FN_SLP_ACC: //POWERSTEP01_TON_MIN
+ case POWERSTEP01_FN_SLP_DEC: //POWERSTEP01_TOFF_MIN
+ if (voltageMode!=FALSE) value = BEMFslope_RegVal_to_Perc(registerValue);
+ else value = Tmin_RegVal_to_Time(registerValue);
+ break;
+ default:
+ value = (float) registerValue;
+ }
+ return value;
+}
+
+/******************************************************//**
+ * @brief Put commands in queue before synchronous sending
+ * done by calling Powerstep01_SendQueuedCommands.
+ * Any call to functions that use the SPI between the calls of
+ * Powerstep01_QueueCommands and Powerstep01_SendQueuedCommands
+ * will corrupt the queue.
+ * A command for each device of the daisy chain must be
+ * specified before calling Powerstep01_SendQueuedCommands.
+ * @param[in] command Command to queue (all Powerstep01 commmands
+ * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
+ * POWERSTEP01_GET_STATUS)
+ * @param[in] value argument of the command to queue
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_QueueCommands(uint8_t command, int32_t value)
+{
+ if (numberOfDevices > deviceInstance)
+ {
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+
+ switch (command & DAISY_CHAIN_COMMAND_MASK)
+ {
+ case POWERSTEP01_RUN: ;
+ case POWERSTEP01_MOVE: ;
+ case POWERSTEP01_GO_TO: ;
+ case POWERSTEP01_GO_TO_DIR: ;
+ case POWERSTEP01_GO_UNTIL: ;
+ case POWERSTEP01_GO_UNTIL_ACT_CPY:
+ spiTxBursts[0][spiIndex] = command;
+ spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ spiTxBursts[3][spiIndex] = (uint8_t)(value);
+ break;
+ default:
+ spiTxBursts[0][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[1][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[2][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[3][spiIndex] = command;
+ }
+ }
+}
+
+/**********************************************************
+ * @brief Sends a command to the device via the SPI
+ * @param[in] command Command to send (all Powerstep01 commmands
+ * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
+ * POWERSTEP01_GET_STATUS)
+ * @param[in] value arguments to send on 32 bits
+ * @retval None
+ **********************************************************/
+void POWERSTEP01::Powerstep01_SendCommand(uint8_t command, uint32_t value)
+{
+ uint32_t loop;
+ uint8_t maxArgumentNbBytes = 0;
+ bool itDisable = FALSE;
+ uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+
+ do
+ {
+ spiPreemptionByIsr = FALSE;
+ if (itDisable)
+ {
+ /* re-enable Powerstep01_Board_EnableIrq if disable in previous iteration */
+ Powerstep01_Board_EnableIrq();
+ itDisable = FALSE;
+ }
+ for (loop = 0; loop < numberOfDevices; loop++)
+ {
+ spiTxBursts[0][loop] = POWERSTEP01_NOP;
+ spiTxBursts[1][loop] = POWERSTEP01_NOP;
+ spiTxBursts[2][loop] = POWERSTEP01_NOP;
+ spiTxBursts[3][loop] = POWERSTEP01_NOP;
+ }
+ switch (command & DAISY_CHAIN_COMMAND_MASK)
+ {
+ case POWERSTEP01_GO_TO:
+ case POWERSTEP01_GO_TO_DIR:
+ value = value & POWERSTEP01_ABS_POS_VALUE_MASK;
+ case POWERSTEP01_RUN:
+ case POWERSTEP01_MOVE:
+ case POWERSTEP01_GO_UNTIL:
+ case POWERSTEP01_GO_UNTIL_ACT_CPY:
+ spiTxBursts[0][spiIndex] = command;
+ spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ spiTxBursts[3][spiIndex] = (uint8_t)(value);
+ maxArgumentNbBytes = 3;
+ break;
+ default:
+ spiTxBursts[0][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[1][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[2][spiIndex] = POWERSTEP01_NOP;
+ spiTxBursts[3][spiIndex] = command;
+ }
+ /* Disable interruption before checking */
+ /* pre-emption by ISR and SPI transfers*/
+ Powerstep01_Board_DisableIrq();
+ itDisable = TRUE;
+ } while (spiPreemptionByIsr); // check pre-emption by ISR
+ for (loop = POWERSTEP01_CMD_ARG_MAX_NB_BYTES - 1 - maxArgumentNbBytes;
+ loop < POWERSTEP01_CMD_ARG_MAX_NB_BYTES;
+ loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0], &spiRxBursts[loop][0]);
+ }
+ /* re-enable Powerstep01_Board_EnableIrq after SPI transfers*/
+ Powerstep01_Board_EnableIrq();
+}
+
+/******************************************************//**
+ * @brief Sends commands stored previously in the queue by
+ * Powerstep01_QueueCommands
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_SendQueuedCommands(void)
+{
+ uint8_t loop;
+
+ for (loop = 0;
+ loop < POWERSTEP01_CMD_ARG_MAX_NB_BYTES;
+ loop++)
+ {
+ Powerstep01_WriteBytes(&spiTxBursts[loop][0], &spiRxBursts[loop][0]);
+ }
+}
+
+/**********************************************************
+ * @brief Issues the SetParam command to the PowerStep01
+ * @param[in] param PowerStep01 Register address
+ * @param[in] value Float value to convert and set into the register
+ * @retval TRUE if param is valid, FALSE otherwise
+ *********************************************************/
+bool POWERSTEP01::Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value)
+{
+ uint32_t registerValue;
+ bool result = TRUE;
+ bool voltageMode = ((POWERSTEP01_CM_VM_CURRENT&Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE))==0);
+ if ((value < 0)&&((param != POWERSTEP01_ABS_POS)&&(param != POWERSTEP01_MARK)))
+ {
+ result = FALSE;
+ }
+ switch (param)
+ {
+ case POWERSTEP01_EL_POS:
+ if ((value > (POWERSTEP01_ELPOS_STEP_MASK|POWERSTEP01_ELPOS_MICROSTEP_MASK))||
+ ((value!=0)&&(value < (1<<(7-(POWERSTEP01_STEP_MODE_STEP_SEL&Powerstep01_CmdGetParam(POWERSTEP01_STEP_MODE))))))) result = FALSE;
+ else registerValue = ((uint32_t) value)&(POWERSTEP01_ELPOS_STEP_MASK|POWERSTEP01_ELPOS_MICROSTEP_MASK);
+ break;
+ case POWERSTEP01_ABS_POS:
+ case POWERSTEP01_MARK:
+ if (value < 0)
+ {
+ value=-value;
+ if (((uint32_t)value)<=(POWERSTEP01_MAX_POSITION+1))
+ registerValue = (POWERSTEP01_ABS_POS_VALUE_MASK+1-(uint32_t)value)&POWERSTEP01_ABS_POS_VALUE_MASK;
+ else result = FALSE;
+ }
+ else
+ {
+ if (((uint32_t)value)<=POWERSTEP01_MAX_POSITION)
+ registerValue = ((uint32_t) value)&POWERSTEP01_ABS_POS_VALUE_MASK;
+ else result = FALSE;
+ }
+ break;
+ case POWERSTEP01_ACC:
+ case POWERSTEP01_DEC:
+ if (value > POWERSTEP01_ACC_DEC_MAX_VALUE) result = FALSE;
+ else registerValue = AccDec_Steps_s2_to_RegVal(value);
+ break;
+ case POWERSTEP01_MAX_SPEED:
+ if (value > POWERSTEP01_MAX_SPEED_MAX_VALUE) result = FALSE;
+ else registerValue = MaxSpd_Steps_s_to_RegVal(value);
+ break;
+ case POWERSTEP01_MIN_SPEED:
+ if (value > POWERSTEP01_MIN_SPEED_MAX_VALUE) result = FALSE;
+ else registerValue = (POWERSTEP01_LSPD_OPT&Powerstep01_CmdGetParam(param))|MinSpd_Steps_s_to_RegVal(value);
+ break;
+ case POWERSTEP01_FS_SPD:
+ if (value > POWERSTEP01_FS_SPD_MAX_VALUE) result = FALSE;
+ else registerValue = (POWERSTEP01_BOOST_MODE&Powerstep01_CmdGetParam(param))|FSSpd_Steps_s_to_RegVal(value);
+ break;
+ case POWERSTEP01_INT_SPD:
+ if (value > POWERSTEP01_INT_SPD_MAX_VALUE) result = FALSE;
+ else registerValue = IntSpd_Steps_s_to_RegVal(value);
+ break;
+ case POWERSTEP01_K_THERM:
+ if ((value < POWERSTEP01_K_THERM_MIN_VALUE)||
+ (value > POWERSTEP01_K_THERM_MAX_VALUE)) result = FALSE;
+ else registerValue = KTherm_Comp_to_RegVal(value);
+ break;
+ case POWERSTEP01_OCD_TH:
+ case POWERSTEP01_STALL_TH:
+ if (value > POWERSTEP01_STALL_OCD_TH_MAX_VALUE) result = FALSE;
+ else registerValue = StallOcd_Th_to_RegVal(value);
+ break;
+ case POWERSTEP01_KVAL_HOLD: //POWERSTEP01_TVAL_HOLD
+ case POWERSTEP01_KVAL_RUN: //POWERSTEP01_TVAL_RUN
+ case POWERSTEP01_KVAL_ACC: //POWERSTEP01_TVAL_ACC
+ case POWERSTEP01_KVAL_DEC: //POWERSTEP01_TVAL_DEC
+ if (voltageMode==FALSE)
+ {
+ if (value > POWERSTEP01_TVAL_MAX_VALUE) result = FALSE;
+ else registerValue = Tval_Current_to_RegVal(value);
+ }
+ else
+ {
+ if (value > POWERSTEP01_KVAL_MAX_VALUE) result = FALSE;
+ else registerValue = Kval_Perc_to_RegVal(value);
+ }
+ break;
+ case POWERSTEP01_ST_SLP:
+ if (voltageMode==FALSE)
+ {
+ result = FALSE;
+ break;
+ }
+ case POWERSTEP01_FN_SLP_ACC: //POWERSTEP01_TON_MIN
+ case POWERSTEP01_FN_SLP_DEC: //POWERSTEP01_TOFF_MIN
+ if (voltageMode==FALSE)
+ {
+ if (value>POWERSTEP01_TOFF_TON_MIN_MAX_VALUE) result = FALSE;
+ else registerValue = Tmin_Time_to_RegVal(value);
+ }
+ else
+ {
+ if (value > POWERSTEP01_SLP_MAX_VALUE) result = FALSE;
+ else registerValue = BEMFslope_Perc_to_RegVal(value);
+ }
+ break;
+ default:
+ result = FALSE;
+ }
+ if (result!=FALSE)
+ {
+ Powerstep01_CmdSetParam(param, registerValue);
+ }
+ return result;
+}
+
+/**********************************************************
+ * @brief Write and receive a byte via SPI
+ * @param[in] pByteToTransmit pointer to the byte to transmit
+ * @param[in] pReceivedByte pointer to the received byte
+ * @retval None
+ *********************************************************/
+void POWERSTEP01::Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
+{
+ if (Powerstep01_Board_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
+ {
+ Powerstep01_ErrorHandler(POWERSTEP01_ERROR_1);
+ }
+ if (isrFlag)
+ {
+ spiPreemptionByIsr = TRUE;
+ }
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/powerstep01/powerstep01_class.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,1496 @@
+/**
+ ******************************************************************************
+ * @file powerstep01_class.h
+ * @author IPC Rennes
+ * @version V1.0.0
+ * @date March 18th, 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>
+ *
+ * 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 __POWERSTEP01_CLASS_H
+#define __POWERSTEP01_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* 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 "../Interfaces/Humidity_class.h" *
+ * #include "../Interfaces/Temperature_class.h" *
+ *----------------------------------------------------------------------------*/
+#include "../Interfaces/StepperMotor_class.h"
+
+
+/* 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 ReadID(uint8_t *id = NULL)
+ {
+ return (int) Powerstep01_ReadID((uint8_t *) id);
+ }
+
+ /**
+ * @brief Getting the version of the firmware.
+ * @param None.
+ * @retval The version of the firmware.
+ */
+ virtual unsigned int GetFwVersion(void)
+ {
+ return (unsigned int) Powerstep01_GetFwVersion();
+ }
+
+ /**
+ * @brief Public functions inherited from the StepperMotor Class
+ */
+
+ /**
+ * @brief Attaching an error handler.
+ * @param fptr An error handler.
+ * @retval None.
+ */
+ virtual void AttachErrorHandler(void (*fptr)(uint16_t error))
+ {
+ Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
+ }
+
+ /**
+ * @brief Getting the value of the Status Register.
+ * @param None.
+ * @retval None.
+ * @note The Status Register's flags are cleared, contrary to ReadStatusRegister().
+ */
+ virtual unsigned int GetStatus(void)
+ {
+ return (unsigned int) Powerstep01_CmdGetStatus();
+ }
+
+ /**
+ * @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 GetParameter(unsigned int parameter)
+ {
+ return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
+ }
+
+ /**
+ * @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 GetAnalogValue(unsigned int parameter)
+ {
+ return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
+ }
+
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int GetPosition(void)
+ {
+ return (signed int)Powerstep01_GetPosition();
+ }
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int GetMark(void)
+ {
+ return (signed int)Powerstep01_GetMark();
+ }
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual unsigned int GetSpeed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
+ }
+
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
+ virtual unsigned int GetMaxSpeed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
+ }
+
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
+ virtual unsigned int GetMinSpeed(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
+ }
+
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
+ virtual unsigned int GetAcceleration(void)
+ {
+ return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
+ }
+
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
+ virtual unsigned int GetDeceleration(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 GetDirection(void)
+ {
+ if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
+ {
+ return FWD;
+ }
+ else
+ {
+ return BWD;
+ }
+ }
+
+ /**
+ * @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 SetParameter(unsigned int parameter, unsigned int value)
+ {
+ Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
+ }
+
+ /**
+ * @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 SetAnalogValue(unsigned int param, float value)
+ {
+ return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
+ }
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SetHome(void)
+ {
+ Powerstep01_SetHome();
+ }
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SetMark(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 SetMaxSpeed(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 SetMinSpeed(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 SetAcceleration(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 SetDeceleration(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 void SetStepMode(motorStepMode_t step_mode)
+ {
+ Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
+ }
+
+ /**
+ * @brief Going to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void GoTo(signed int position)
+ {
+ Powerstep01_CmdGoTo((int32_t)position);
+ }
+
+ virtual void GoTo(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 GoHome(void)
+ {
+ Powerstep01_CmdGoHome();
+ }
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void GoMark(void)
+ {
+ Powerstep01_CmdGoMark();
+ }
+
+ /**
+ * @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 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_RegVal(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 SoftStop(void)
+ {
+ Powerstep01_CmdSoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardStop(void)
+ {
+ Powerstep01_CmdHardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftHiZ(void)
+ {
+ Powerstep01_CmdSoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardHiZ(void)
+ {
+ Powerstep01_CmdHardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void WaitWhileActive(void)
+ {
+ Powerstep01_WaitWhileActive();
+ }
+
+ /**
+ * @brief Public functions NOT inherited
+ */
+
+ /**
+ * @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 CheckBusyHw(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 CheckStatusHw(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 FetchAndClearAllStatus(void)
+ {
+ Powerstep01_FetchAndClearAllStatus();
+ }
+
+ /**
+ * @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 GetFetchedStatus(void)
+ {
+ return Powerstep01_GetFetchedStatus();
+ }
+
+ /**
+ * @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 GoUntil(motorAction_t action, direction_t direction, float speed)
+ {
+ Powerstep01_CmdGoUntil(action,
+ (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
+ Speed_Steps_s_to_RegVal(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 IsDeviceBusy(void)
+ {
+ return Powerstep01_IsDeviceBusy();
+ }
+
+ /**
+ * @brief Put commands in queue before synchronous sending
+ * done by calling SendQueuedCommands.
+ * Any call to functions that use the SPI between the calls of
+ * QueueCommands and SendQueuedCommands
+ * will corrupt the queue.
+ * A command for each device of the daisy chain must be
+ * specified before calling SendQueuedCommands.
+ * @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 QueueCommands(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 GetStatus().
+ */
+ virtual uint16_t ReadStatusRegister(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 ReleaseSw(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 ResetCommand(void)
+ {
+ Powerstep01_CmdResetDevice();
+ }
+
+ /**
+ * @brief Issues PowerStep01 ResetPos command.
+ * @param None.
+ * @retval None.
+ * @note Same effect as SetHome().
+ */
+ virtual void ResetPosition(void)
+ {
+ Powerstep01_CmdResetPos();
+ }
+
+ /**
+ * @brief Sends commands stored previously in the queue by QueueCommands.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SendQueuedCommands(void)
+ {
+ Powerstep01_SendQueuedCommands();
+ }
+
+ /**
+ * @brief Enable the step clock mode.
+ * @param frequency the frequency of PWM.
+ * @retval None.
+ */
+ virtual void StepClockModeEnable(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 StepClockStart(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 StepClockStop(void)
+ {
+ pwm.write(0.0f);
+ }
+
+ /**
+ * @brief Public static functions
+ */
+
+ static uint8_t GetNbDevices(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 AccDec_Steps_s2_to_RegVal(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 AccDec_RegVal_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 BEMFslope_Perc_to_RegVal(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 BEMFslope_RegVal_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 FSSpd_Steps_s_to_RegVal(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 FSSpd_RegVal_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 IntSpd_Steps_s_to_RegVal(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 IntSpd_RegVal_to_Steps_s(uint32_t regVal)
+ {
+ return (((float)(regVal))*0.0596045f);
+ }
+
+ /**********************************************************
+ * @brief Convert the float formatted thermal compensation
+ * factor into a K_THEM 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 KTherm_Comp_to_RegVal(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 KTherm_RegVal_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 Kval_Perc_to_RegVal(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 Kval_RegVal_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 MaxSpd_Steps_s_to_RegVal(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 MaxSpd_RegVal_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 MinSpd_Steps_s_to_RegVal(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 MinSpd_RegVal_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_RegVal(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_RegVal_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 StallOcd_Th_to_RegVal(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 StallOcd_RegVal_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 Tval_Current_to_RegVal(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 Tval_RegVal_to_Current(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 Tmin_Time_to_RegVal(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 Tmin_RegVal_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 AttachFeatureIRQ(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void EnableFeatureIRQ(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void DisableFeatureIRQ(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachFlagIRQ(void (*fptr)(void))
+ {
+ flag_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableFlagIRQ(void)
+ {
+ flag_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableFlagIRQ(void)
+ {
+ flag_irq.disable_irq();
+ }
+
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachBusyIRQ(void (*fptr)(void))
+ {
+ busy_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableBusyIRQ(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableBusyIRQ(void)
+ {
+ busy_irq.disable_irq();
+ }
+
+protected:
+
+ /*** 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_GetValue(float *f); //(1) *
+ * Status_t COMPONENT_EnableFeature(void); //(2) *
+ * Status_t COMPONENT_ComputeAverage(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);
+ uint8_t Powerstep01_GetFwVersion(void);
+ int32_t Powerstep01_GetMark(void);
+ int32_t Powerstep01_GetPosition(void);
+ bool Powerstep01_IsDeviceBusy(void);
+ uint16_t Powerstep01_ReadStatusRegister(void);
+ void 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;
+
+ /* 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;
+
+ /* 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****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/powerstep01/powerstep01_target_config.h Tue Apr 05 15:18:56 2016 +0000
@@ -0,0 +1,703 @@
+/**
+ ******************************************************************************
+ * @file powerstep01_target_config.h
+ * @author IPC Rennes
+ * @version V1.2.0
+ * @date March 18th, 2016
+ * @brief Predefines values for the Powerstep01 registers
+ * and for the devices parameters
+ * @note (C) COPYRIGHT 2016 STMicroelectronics
+ ******************************************************************************
+ * @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 __POWERSTEP01_TARGET_CONFIG_H
+#define __POWERSTEP01_TARGET_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup POWERSTEP01
+ * @{
+ */
+
+/** @addtogroup Powerstep01_Exported_Defines
+ * @{
+ */
+
+/** @defgroup Predefined_Powerstep01_Registers_Values Predefined Powerstep01 Registers Values
+ * @{
+ */
+
+/// The maximum number of devices in the daisy chain
+#define MAX_NUMBER_OF_DEVICES (3)
+
+/****************************************************************************/
+/* Device 0 */
+/****************************************************************************/
+
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_0 (582)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_0 (582)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_0 (488)
+
+/// Register : MIN_SPEED
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_0 (0)
+
+/// Register : FS_SPD
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_0 (244.16)
+
+/// Register : FS_SPD - field : BOOST_MODE
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_0 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters **************************/
+/// Register : KVAL_ACC
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_0 (16.02)
+
+/// Register : KVAL_DEC
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_0 (16.02)
+
+/// Register : KVAL_RUN
+/// Run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_0 (16.02)
+
+/// Register : KVAL_HOLD
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_0 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_0 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_0 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_0 (1)
+
+/// Register : INT_SPEED
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_0 (61.512)
+
+/// Register : ST_SLP
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_0 (0.03815)
+
+/// Register : FN_SLP_ACC
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_0 (0.06256)
+
+/// Register : FN_SLP_DEC
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_0 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_0 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_0 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters *********************/
+
+/// Register : TVAL_ACC
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_0 (328.12)
+
+/// Register : TVAL_DEC
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_0 (328.12)
+
+/// Register : TVAL_RUN
+/// Running torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_0 (328.12)
+
+/// Register : TVAL_HOLD
+/// Holding torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_0 (328.12)
+
+/// Register : CONFIG - field : EN_TQREG
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_0 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)
+
+/// Register : CONFIG - field : PRED_EN
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_0 (POWERSTEP01_CONFIG_PRED_DISABLE)
+
+/// Register : TON_MIN
+/// Minimum on-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_0 (3.0)
+
+/// Register : TOFF_MIN
+/// Minimum off-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_0 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_0 (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP
+/// Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_0 (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_0 (POWERSTEP01_CONFIG_TSW_048us)
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE
+/// Gate sink/source current via enum powerstep01_Igate_t
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_0 (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL
+/// VCC Val, enum powerstep01_ConfigVccVal_t
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_0 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_0 (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_0 (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_0 (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_0 (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_0 (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_0 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_0 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH
+/// Stall threshold settings in mV, range 31.25mV to 1000mV
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_0 (531.25)
+
+/// Register : ALARM_EN
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_0 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+ POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN | \
+ POWERSTEP01_ALARM_EN_THERMAL_WARNING | \
+ POWERSTEP01_ALARM_EN_UVLO | \
+ POWERSTEP01_ALARM_EN_STALL_DETECTION | \
+ POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+ POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_0 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE
+/// Step mode settings via enum motorStepMode_t
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_0 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_0 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN
+/// Synch. Mode settings via enum powerstep01_SyncSel_t
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_0 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_0 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_0 (POWERSTEP01_WD_EN_DISABLE)
+
+/****************************************************************************/
+/* Device 1 */
+/****************************************************************************/
+
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_1 (2008.16)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_1 (2008.16)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_1 (991.82)
+
+/// Register : MIN_SPEED
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_1 (0)
+
+/// Register : FS_SPD
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_1 (595.09)
+
+/// Register : FS_SPD - field : BOOST_MODE
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_1 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters **************************/
+/// Register : KVAL_ACC
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_1 (16.02)
+
+/// Register : KVAL_DEC
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_1 (16.02)
+
+/// Register : KVAL_RUN
+/// Run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_1 (16.02)
+
+/// Register : KVAL_HOLD
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_1 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_1 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_1 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_1 (1)
+
+/// Register : INT_SPEED
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_1 (61.512)
+
+/// Register : ST_SLP
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_1 (0.03815)
+
+/// Register : FN_SLP_ACC
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_1 (0.06256)
+
+/// Register : FN_SLP_DEC
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_1 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_1 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_1 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters *********************/
+
+/// Register : TVAL_ACC
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_1 (328.12)
+
+/// Register : TVAL_DEC
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_1 (328.12)
+
+/// Register : TVAL_RUN
+/// Running torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_1 (328.12)
+
+/// Register : TVAL_HOLD
+/// Holding torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_1 (328.12)
+
+/// Register : CONFIG - field : EN_TQREG
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_1 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)
+
+/// Register : CONFIG - field : PRED_EN
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_1 (POWERSTEP01_CONFIG_PRED_DISABLE)
+
+/// Register : TON_MIN
+/// Minimum on-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_1 (3.0)
+
+/// Register : TOFF_MIN
+/// Minimum off-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_1 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_1 (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP
+/// Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_1 (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_1 (POWERSTEP01_CONFIG_TSW_048us)
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE
+/// Gate sink/source current via enum powerstep01_Igate_t
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_1 (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL
+/// VCC Val, enum powerstep01_ConfigVccVal_t
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_1 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_1 (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_1 (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_1 (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_1 (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_1 (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_1 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_1 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH
+/// Stall threshold settings in mV, range 31.25mV to 1000mV
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_1 (531.25)
+
+/// Register : ALARM_EN
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_1 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+ POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN | \
+ POWERSTEP01_ALARM_EN_THERMAL_WARNING | \
+ POWERSTEP01_ALARM_EN_UVLO | \
+ POWERSTEP01_ALARM_EN_STALL_DETECTION | \
+ POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+ POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_1 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE
+/// Step mode settings via enum powerstep01_StepSel_t
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_1 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_1 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN
+/// Synch. Mode settings via enum powerstep01_SyncSel_t
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_1 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_1 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_1 (POWERSTEP01_WD_EN_DISABLE)
+
+/****************************************************************************/
+/* Device 2 */
+/****************************************************************************/
+
+/**************************** Speed Profile *********************************/
+/// Register : ACC
+/// Acceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_ACC_DEVICE_2 (2008.16)
+
+/// Register : DEC
+/// Deceleration rate in step/s2, range 14.55 to 59590 steps/s^2
+#define POWERSTEP01_CONF_PARAM_DEC_DEVICE_2 (2008.16)
+
+///Register : MAX_SPEED
+/// Maximum speed in step/s, range 15.25 to 15610 steps/s
+#define POWERSTEP01_CONF_PARAM_MAX_SPEED_DEVICE_2 (991.82)
+
+/// Register : MIN_SPEED
+/// Minimum speed in step/s, range 0 to 976.3 steps/s
+#define POWERSTEP01_CONF_PARAM_MIN_SPEED_DEVICE_2 (0)
+
+/// Register : FS_SPD
+/// Full step speed in step/s, range 7.63 to 15625 steps/s
+#define POWERSTEP01_CONF_PARAM_FS_SPD_DEVICE_2 (595.09)
+
+/// Register : FS_SPD - field : BOOST_MODE
+/// Boost of the amplitude square wave, enum powerstep01_BoostMode_t
+#define POWERSTEP01_CONF_PARAM_BOOST_MODE_DEVICE_2 (POWERSTEP01_BOOST_MODE_OFF)
+
+
+/************************ Voltage mode parameters **************************/
+/// Register : KVAL_ACC
+/// Acceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_ACC_DEVICE_2 (16.02)
+
+/// Register : KVAL_DEC
+/// Deceleration duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_DEC_DEVICE_2 (16.02)
+
+/// Register : KVAL_RUN
+/// Run duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_RUN_DEVICE_2 (16.02)
+
+/// Register : KVAL_HOLD
+/// Hold duty cycle (torque) in %, range 0 to 99.6%
+#define POWERSTEP01_CONF_PARAM_KVAL_HOLD_DEVICE_2 (16.02)
+
+/// Register : CONFIG - field : EN_VSCOMP
+/// Motor Supply Voltage Compensation enabling , enum powerstep01_ConfigEnVscomp_t
+#define POWERSTEP01_CONF_PARAM_VS_COMP_DEVICE_2 (POWERSTEP01_CONFIG_VS_COMP_DISABLE)
+
+/// Register : MIN_SPEED - field : LSPD_OPT
+/// Low speed optimization bit, enum powerstep01_LspdOpt_t
+#define POWERSTEP01_CONF_PARAM_LSPD_BIT_DEVICE_2 (POWERSTEP01_LSPD_OPT_OFF)
+
+/// Register : K_THERM
+/// Thermal compensation param, range 1 to 1.46875
+#define POWERSTEP01_CONF_PARAM_K_THERM_DEVICE_2 (1)
+
+/// Register : INT_SPEED
+/// Intersect speed settings for BEMF compensation in steps/s, range 0 to 3906 steps/s
+#define POWERSTEP01_CONF_PARAM_INT_SPD_DEVICE_2 (61.512)
+
+/// Register : ST_SLP
+/// BEMF start slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_ST_SLP_DEVICE_2 (0.03815)
+
+/// Register : FN_SLP_ACC
+/// BEMF final acc slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_ACC_DEVICE_2 (0.06256)
+
+/// Register : FN_SLP_DEC
+/// BEMF final dec slope settings for BEMF compensation in % step/s, range 0 to 0.4% s/step
+#define POWERSTEP01_CONF_PARAM_FN_SLP_DEC_DEVICE_2 (0.06256)
+
+/// Register : CONFIG - field : F_PWM_INT
+/// PWM Frequency Integer division, enum powerstep01_ConfigFPwmInt_t
+#define POWERSTEP01_CONF_PARAM_PWM_DIV_DEVICE_2 (POWERSTEP01_CONFIG_PWM_DIV_2)
+
+/// Register : CONFIG - field : F_PWM_DEC
+/// PWM Frequency Integer Multiplier, enum powerstep01_ConfigFPwmDec_t
+#define POWERSTEP01_CONF_PARAM_PWM_MUL_DEVICE_2 (POWERSTEP01_CONFIG_PWM_MUL_1)
+
+/******************** Advance current control parameters *********************/
+
+/// Register : TVAL_ACC
+/// Acceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_ACC_DEVICE_2 (328.12)
+
+/// Register : TVAL_DEC
+/// Deceleration torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_DEC_DEVICE_2 (328.12)
+
+/// Register : TVAL_RUN
+/// Running torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_RUN_DEVICE_2 (328.12)
+
+/// Register : TVAL_HOLD
+/// Holding torque in mV, range from 7.8mV to 1000 mV
+#define POWERSTEP01_CONF_PARAM_TVAL_HOLD_DEVICE_2 (328.12)
+
+/// Register : CONFIG - field : EN_TQREG
+/// External torque regulation enabling , enum powerstep01_ConfigEnTqReg_t
+#define POWERSTEP01_CONF_PARAM_TQ_REG_DEVICE_2 (POWERSTEP01_CONFIG_TQ_REG_TVAL_USED)
+
+/// Register : CONFIG - field : PRED_EN
+/// Predictive current enabling , enum powerstep01_ConfigPredEn_t
+#define POWERSTEP01_CONF_PARAM_PRED_DEVICE_2 (POWERSTEP01_CONFIG_PRED_DISABLE)
+
+/// Register : TON_MIN
+/// Minimum on-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TON_MIN_DEVICE_2 (3.0)
+
+/// Register : TOFF_MIN
+/// Minimum off-time in us, range 0.5us to 64us
+#define POWERSTEP01_CONF_PARAM_TOFF_MIN_DEVICE_2 (21.0)
+
+/// Register : T_FAST - field: TOFF_FAST
+/// Maximum fast decay time , enum powerstep01_ToffFast_t
+#define POWERSTEP01_CONF_PARAM_TOFF_FAST_DEVICE_2 (POWERSTEP01_TOFF_FAST_8us)
+
+/// Register : T_FAST - field: FAST_STEP
+/// Maximum fall step time , enum powerstep01_FastStep_t
+#define POWERSTEP01_CONF_PARAM_FAST_STEP_DEVICE_2 (POWERSTEP01_FAST_STEP_12us)
+
+/// Register : CONFIG - field : TSW
+/// Switching period, enum powerstep01_ConfigTsw_t
+#define POWERSTEP01_CONF_PARAM_TSW_DEVICE_2 (POWERSTEP01_CONFIG_TSW_048us)
+
+/****************************** Gate Driving **********************************/
+
+/// Register : GATECFG1 - field : IGATE
+/// Gate sink/source current via enum powerstep01_Igate_t
+#define POWERSTEP01_CONF_PARAM_IGATE_DEVICE_2 (POWERSTEP01_IGATE_64mA)
+
+/// Register : CONFIG - field : VCCVAL
+/// VCC Val, enum powerstep01_ConfigVccVal_t
+#define POWERSTEP01_CONF_PARAM_VCCVAL_DEVICE_2 (POWERSTEP01_CONFIG_VCCVAL_15V)
+
+/// Register : CONFIG - field : UVLOVAL
+/// UVLO Threshold via powerstep01_ConfigUvLoVal_t
+#define POWERSTEP01_CONF_PARAM_UVLOVAL_DEVICE_2 (POWERSTEP01_CONFIG_UVLOVAL_LOW)
+
+/// Register : GATECFG1 - field : TBOOST
+/// Duration of the overboost phase during gate turn-off via enum powerstep01_Tboost_t
+#define POWERSTEP01_CONF_PARAM_TBOOST_DEVICE_2 (POWERSTEP01_TBOOST_0ns)
+
+/// Register : GATECFG1 - field : TCC
+/// Controlled current time via enum powerstep01_Tcc_t
+#define POWERSTEP01_CONF_PARAM_TCC_DEVICE_2 (POWERSTEP01_TCC_500ns)
+
+/// Duration of the blanking time via enum powerstep01_TBlank_t
+#define POWERSTEP01_CONF_PARAM_TBLANK_DEVICE_2 (POWERSTEP01_TBLANK_375ns)
+
+/// Register : GATECFG2 - field : TDT
+/// Duration of the dead time via enum powerstep01_Tdt_t
+#define POWERSTEP01_CONF_PARAM_TDT_DEVICE_2 (POWERSTEP01_TDT_125ns)
+
+/******************************* Others *************************************/
+
+/// Register : OCD_TH
+/// Overcurrent threshold settings via enum powerstep01_OcdTh_t
+#define POWERSTEP01_CONF_PARAM_OCD_TH_DEVICE_2 (POWERSTEP01_OCD_TH_281_25mV)
+
+/// Register : CONFIG - field : OC_SD
+/// Over current shutwdown enabling, enum powerstep01_ConfigOcSd_t
+#define POWERSTEP01_CONF_PARAM_OC_SD_DEVICE_2 (POWERSTEP01_CONFIG_OC_SD_DISABLE)
+
+/// Register : STALL_TH
+/// Stall threshold settings in mV, range 31.25mV to 1000mV
+#define POWERSTEP01_CONF_PARAM_STALL_TH_DEVICE_2 (531.25)
+
+/// Register : ALARM_EN
+/// Alarm settings via bitmap enum powerstep01_AlarmEn_t
+#define POWERSTEP01_CONF_PARAM_ALARM_EN_DEVICE_2 (POWERSTEP01_ALARM_EN_OVERCURRENT | \
+ POWERSTEP01_ALARM_EN_THERMAL_SHUTDOWN | \
+ POWERSTEP01_ALARM_EN_THERMAL_WARNING | \
+ POWERSTEP01_ALARM_EN_UVLO | \
+ POWERSTEP01_ALARM_EN_STALL_DETECTION | \
+ POWERSTEP01_ALARM_EN_SW_TURN_ON | \
+ POWERSTEP01_ALARM_EN_WRONG_NPERF_CMD)
+
+/// Register : CONFIG - field : SW_MODE
+/// External switch hard stop interrupt mode, enum powerstep01_ConfigSwMode_t
+#define POWERSTEP01_CONF_PARAM_SW_MODE_DEVICE_2 (POWERSTEP01_CONFIG_SW_HARD_STOP)
+
+/// Register : STEP_MODE - field : STEP_MODE
+/// Step mode settings via enum powerstep01_StepSel_t
+#define POWERSTEP01_CONF_PARAM_STEP_MODE_DEVICE_2 (STEP_MODE_1_16)
+
+/// Register : STEP_MODE - field : CM_VM
+/// Current mode or Voltage mode via enum powerstep01_CmVm_t
+#define POWERSTEP01_CONF_PARAM_CM_VM_DEVICE_2 (POWERSTEP01_CM_VM_CURRENT)
+
+/// Register : STEP_MODE - Field : SYNC_MODE and SYNC_EN
+/// Synch. Mode settings via enum powerstep01_SyncSel_t
+#define POWERSTEP01_CONF_PARAM_SYNC_MODE_DEVICE_2 (POWERSTEP01_SYNC_SEL_DISABLED)
+
+/// Register : CONFIG - field : OSC_CLK_SEL
+/// Clock setting , enum powerstep01_ConfigOscMgmt_t
+#define POWERSTEP01_CONF_PARAM_CLOCK_SETTING_DEVICE_2 (POWERSTEP01_CONFIG_INT_16MHZ_OSCOUT_2MHZ)
+
+/// Register : GATECFG1 - field : WD_EN
+/// External clock watchdog, enum powerstep01_WdEn_t
+#define POWERSTEP01_CONF_PARAM_WD_EN_DEVICE_2 (POWERSTEP01_WD_EN_DISABLE)
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* __POWERSTEP01_TARGET_CONFIG_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_COMMON.lib Tue Apr 05 15:18:56 2016 +0000 @@ -0,0 +1,1 @@ +http://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#216930edb6b7
X-NUCLEO-IHM03A1 High Power Stepper Motor Driver