Library to handle the X-NUCLEO-IHM06A1 Motor Control Expansion Board based on the STSPIN220 component.
Dependencies: ST_INTERFACES
Dependents: HelloWorld_IHM06A1
Fork of X-NUCLEO-IHM06A1 by
Motor Control Library
Library to handle the X-NUCLEO-IHM06A1 Motor Control Expansion Board based on the STSPIN220 component.
It features the:
- Read and write of the device parameters; GPIO, PWM and IRQ configuration; microstepping, direction position, speed, acceleration, deceleration and torque controls
- Automatic full-step switch management; high impedance or hold stop mode selection; enable and standby management
- Fault interrupts handling (over current, short-circuit and over temperature)
- Command locking until the device completes movement
The API allows to easily:
- perform various positioning, moves and stops
- get/set or monitor the motor positions
- set the home position and mark another position
- get/set the minimum and maximum speed
- get the current speed
- get/set the acceleration and deceleration
- get/set the stop mode (hold, hiz or standby)
- get/set the torque
- get/set the torque boost
- get/set the step mode (up to 1/256)
Platform compatibility
Compatible platforms have been tested with the configurations provided by the HelloWorld_IHM06A1 example.
Diff: Components/stspin220/stspin220.h
- Revision:
- 3:a132aa6d66e4
- Parent:
- 0:0ccd34c56c66
--- a/Components/stspin220/stspin220.h Wed Jul 27 12:00:06 2016 +0000 +++ b/Components/stspin220/stspin220.h Fri Mar 24 10:59:19 2017 +0100 @@ -1,344 +1,1200 @@ -/******************************************************//** - * @file stspin220.h - * @author IPC Rennes - * @version V1.1.0 - * @date May 26th, 2016 - * @brief Header for STSPIN220 driver (fully integrated microstepping motor driver) - * @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. - * - ****************************************************************************** - */ +/** + ****************************************************************************** + * @file stspin220_class.h + * @author IPC Rennes + * @version V1.0.0 + * @date July 27th, 2016 + * @brief This file contains the class of a STSpin220 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 __STSPIN220_H -#define __STSPIN220_H -#ifdef __cplusplus - extern "C" { -#endif +#ifndef __STSPIN220_CLASS_H +#define __STSPIN220_CLASS_H + /* Includes ------------------------------------------------------------------*/ -#include "stspin220_target_config.h" -#include "motor.h" -/* Definitions ---------------------------------------------------------------*/ - -/** @addtogroup Components - * @{ - */ - -/** @defgroup STSPIN220 - * @{ - */ - -/** @defgroup Stspin220_Exported_Constants Stspin220 Exported Constants - * @{ - */ -/// Current FW major version -#define STSPIN220_FW_MAJOR_VERSION (uint8_t)(1) -/// Current FW minor version -#define STSPIN220_FW_MINOR_VERSION (uint8_t)(1) -/// Current FW patch version -#define STSPIN220_FW_PATCH_VERSION (uint8_t)(0) -/// Current FW version -#define STSPIN220_FW_VERSION (uint32_t)((STSPIN220_FW_MAJOR_VERSION<<16)|\ - (STSPIN220_FW_MINOR_VERSION<<8)|\ - (STSPIN220_FW_PATCH_VERSION)) - -/// Max position -#define STSPIN220_MAX_POSITION (0x7FFFFFFF) - -/// Min position -#define STSPIN220_MIN_POSITION (0x80000000) - -/// Position range -#define STSPIN220_POSITION_RANGE ((uint32_t)(STSPIN220_MAX_POSITION -\ - STSPIN220_MIN_POSITION)) -/// STSPIN220 error base number -#define STSPIN220_ERROR_BASE (0xA000) - -/// run bit mask -#define STSPIN220_RUN_BIT_MASK (0x01) - -/// move bit mask -#define STSPIN220_MOVE_BIT_MASK (0x02) - -/// soft stop bit mask -#define STSPIN220_SOFT_STOP_BIT_MASK (0x04) - -/// direction change bit mask -#define STSPIN220_DIR_CHANGE_BIT_MASK (0x08) - -/// Maximum frequency of the step clock frequency in Hz -#define STSPIN220_MAX_STCK_FREQ (10000) - -/// Minimum frequency of the step clock frequency in Hz -#define STSPIN220_MIN_STCK_FREQ (8) - -/// Minimum duration of standby -#define STANDBY_MIN_DURATION (1) - -/// Dead time after standby exit -#define AFTER_STANDBY_EXIT_DEAD_TIME (1) - -/// Reset delay to select step mode -#define SELECT_STEP_MODE_DELAY (1) - -/// PWM REF and bridges disable delay -#define DISABLE_DELAY (1) - -/// Microstepping sequencer maximum value -#define SEQUENCER_MAX_VALUE (uint16_t)(0x3FF) - -/// MCU wait time after power bridges are enabled -#define BRIDGE_TURN_ON_DELAY (10) - -/// RC Filtering delay on the PWM -#define PWM_FILTER_TIME_CONSTANT (5) -/** - * @} - */ - -/* Types ---------------------------------------------------------------------*/ - -/** @defgroup Stspin220_Exported_Types Stspin220 Exported Types - * @{ - */ - -/** @defgroup Error_Types Error Types - * @{ - */ -/// Errors -typedef enum { - STSPIN220_ERROR_SET_HOME = STSPIN220_ERROR_BASE, /// Error while setting home position - STSPIN220_ERROR_SET_MAX_SPEED = STSPIN220_ERROR_BASE + 1, /// Error while setting max speed - STSPIN220_ERROR_SET_MIN_SPEED = STSPIN220_ERROR_BASE + 2, /// Error while setting min speed - STSPIN220_ERROR_SET_ACCELERATION = STSPIN220_ERROR_BASE + 3, /// Error while setting acceleration - STSPIN220_ERROR_SET_DECELERATION = STSPIN220_ERROR_BASE + 4, /// Error while setting decelaration - STSPIN220_ERROR_MCU_OSC_CONFIG = STSPIN220_ERROR_BASE + 5, /// Error while configuring mcu oscillator - STSPIN220_ERROR_MCU_CLOCK_CONFIG = STSPIN220_ERROR_BASE + 6, /// Error while configuring mcu clock - STSPIN220_ERROR_POSITION = STSPIN220_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps) - STSPIN220_ERROR_SPEED = STSPIN220_ERROR_BASE + 8, /// Unexpected current speed - STSPIN220_ERROR_INIT = STSPIN220_ERROR_BASE + 9, /// Unexpected number of devices or unexpected value for predefined parameter - STSPIN220_ERROR_SET_DIRECTION = STSPIN220_ERROR_BASE + 10, /// Error while setting direction - STSPIN220_ERROR_SET_STEP_MODE = STSPIN220_ERROR_BASE + 11, /// Attempt to set an unsupported step mode - STSPIN220_ERROR_APPLY_SPEED = STSPIN220_ERROR_BASE + 12, /// Error while applying speed - STSPIN220_ERROR_SET_TORQUE = STSPIN220_ERROR_BASE + 13, /// Error while setting torque - STSPIN220_ERROR_STEP_CLOCK = STSPIN220_ERROR_BASE + 14 /// Error related to step clock -}errorTypes_t; -/** - * @} - */ +/* ACTION 1 ------------------------------------------------------------------* + * Include here platform specific header files. * + *----------------------------------------------------------------------------*/ +#include "mbed.h" -/** @defgroup Device_Commands Device Commands - * @{ - */ -/// Device commands -typedef enum { - NO_CMD = 0x00, - RUN_CMD = (STSPIN220_RUN_BIT_MASK), - MOVE_CMD = (STSPIN220_MOVE_BIT_MASK), -} deviceCommand_t; -/** - * @} - */ +/* ACTION 2 ------------------------------------------------------------------* + * Include here component specific header files. * + *----------------------------------------------------------------------------*/ +#include "STSpin220.h" +/* ACTION 3 ------------------------------------------------------------------* + * Include here interface specific header files. * + * * + * Example: * + * #include "HumiditySensor.h" * + * #include "TemperatureSensor.h" * + *----------------------------------------------------------------------------*/ +#include "StepperMotor.h" -/** @defgroup Device_Parameters Device Parameters - * @{ - */ -/// Device Parameters Structure Type -typedef struct { - /// accumulator used to store speed increase smaller than 1 pps - volatile uint32_t accu; - /// Position in microstep according to current step mode - volatile int32_t currentPosition; - /// Position of sequencer - volatile int16_t sequencerPosition; - /// mark position in microstep (motor position control mode) - volatile int32_t markPosition; - /// position in microstep at the end of the accelerating phase - volatile uint32_t endAccPos; - /// nb of in microstep performed from the beggining of the goto or the move command - volatile uint32_t relativePos; - /// position in microstep step at the start of the decelerating phase - volatile uint32_t startDecPos; - /// nb of microstep steps to perform for the goto or move commands - uint32_t stepsToTake; - - /// constant speed phase torque value (%) - volatile uint8_t runTorque; - /// acceleration phase torque value (%) - volatile uint8_t accelTorque; - /// deceleration phase torque value (%) - volatile uint8_t decelTorque; - /// holding phase torque value (%) - volatile uint8_t holdTorque; - /// current selected torque value - volatile uint8_t currentTorque; - /// torque update - volatile bool updateTorque; - /// PWM frequency used to generate REF voltage - volatile uint32_t refPwmFreq; - /// torque boost enable - volatile bool torqueBoostEnable; - /// torque boost speed threshold - volatile uint16_t torqueBoostSpeedThreshold; - - /// acceleration in pps^2 - volatile uint16_t acceleration; - /// deceleration in pps^2 - volatile uint16_t deceleration; - /// max speed in pps (speed use for goto or move command) - volatile uint16_t maxSpeed; - /// min speed in pps - volatile uint16_t minSpeed; - /// current speed in pps - volatile uint16_t speed; - - /// command under execution - volatile deviceCommand_t commandExecuted; - /// FORWARD or BACKWARD direction - volatile motorDir_t direction; - /// current state of the device - volatile motorState_t motionState; - /// current step mode - volatile motorStepMode_t stepMode; - /// latched step mode - motorStepMode_t stepModeLatched; - /// current stop mode - motorStopMode_t stopMode; - -}deviceParams_t; -/** - * @} - */ -/// Motor driver initialization structure definition -typedef struct -{ - /// acceleration in pps^2 - uint16_t acceleration; - /// deceleration in pps^2 - uint16_t deceleration; - /// max speed in pps (speed use for goto or move command) - uint16_t maxSpeed; - /// min speed in pps - uint16_t minSpeed; - /// acceleration phase torque value (%) - uint8_t accelTorque; - /// deceleration phase torque value (%) - uint8_t decelTorque; - /// constant speed phase torque value (%) - uint8_t runTorque; - /// holding phase torque value (%) - uint8_t holdTorque; - /// torque boost enable - bool torqueBoostEnable; - /// torque boost speed threshold - uint16_t torqueBoostSpeedThreshold; - /// step mode - motorStepMode_t stepMode; - /// stop mode - motorStopMode_t stopMode; - /// PWM frequency used to generate REF voltage - uint32_t vrefPwmFreq; -} Stspin220_Init_t; -/** - * @} - */ +/* Classes -------------------------------------------------------------------*/ /** - * @} - */ + * @brief Class representing a STSpin220 component. + */ +class STSpin220 : public StepperMotor +{ +public: + /*** Constructor and Destructor Methods ***/ + /** + * @brief Constructor. + * @param fault_and_enable_pin pin name of the EN\FAULT pin of the component. + * @param stby_reset_pin pin name of the STBY\RESET pin of the component. + * @param direction_mode4_pin pin name of the MODE4\DIR pin of the component. + * @param mode1_pin pin name of the MODE1 pin of the component. + * @param mode2_pin pin name of the MODE2 pin of the component. + * @param stck_mode3_pin pin name of the MODE3\STCK pin of the component. + * @param pwm_ref_pin pin name of the PWM connected to the REF pin of the component. + * @param Monitor_pin pin name for the step clock handler duration Monitoring. + */ + STSpin220(PinName fault_and_enable_pin, + PinName stby_reset_pin, + PinName direction_mode4_pin, + PinName mode1_pin, + PinName mode2_pin, + PinName stck_mode3_pin, + PinName pwm_ref_pin, + PinName monitor_pin = NC) : StepperMotor(), + fault_and_enable(fault_and_enable_pin), + stby_reset(stby_reset_pin), + direction_mode4(direction_mode4_pin), + mode1(mode1_pin), + mode2(mode2_pin), + stck_mode3(stck_mode3_pin), + pwm_ref(pwm_ref_pin), + monitor(monitor_pin) + { + /* Checking stackability. */ + if (numberOfDevices!=0) + error("Instantiation of the STSpin220 component failed: it can't be stacked on itself.\r\n"); + + /* ACTION 4 ----------------------------------------------------------* + * Initialize here the component's member variables, one variable per * + * line. * + * * + * Example: * + * measure = 0; * + * instance_id = number_of_instances++; * + *--------------------------------------------------------------------*/ + errorHandlerCallback = 0; + memset(&devicePrm, 0, sizeof(devicePrm)); + deviceInstance = numberOfDevices++; + + fault_and_enable_pinName = fault_and_enable_pin; + } + + /** + * @brief Destructor. + */ + virtual ~STSpin220(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) Stspin220_Init((void *) init); + } + + /** + * @brief Getting the ID of the component. + * @param id Pointer to an allocated variable to store the ID into. + * @retval "0" in case of success, an error code otherwise. + */ + virtual int read_id(uint8_t *id = NULL) + { + return (int) Stspin220_ReadID((uint8_t *) id); + } + + /** + * @brief Public functions inherited from the StepperMotor Class + */ + + /** + * @brief Getting the value of the motor state . + * @param None. + * @retval The motor state accoring to motorState_t in motor.h + */ + virtual unsigned int get_status(void) + { + return (unsigned int) Stspin220_get_device_state(); + } + + /** + * @brief Getting the position. + * @param None. + * @retval The position. + */ + virtual signed int get_position(void) + { + return (signed int)Stspin220_GetPosition(); + } + + /** + * @brief Getting the marked position. + * @param None. + * @retval The marked position. + */ + virtual signed int get_mark(void) + { + return (signed int)Stspin220_GetMark(); + } + + /** + * @brief Getting the current speed in pps. + * @param None. + * @retval The current speed in pps. + */ + virtual unsigned int get_speed(void) + { + return (unsigned int)Stspin220_GetCurrentSpeed(); + } + + /** + * @brief Getting the maximum speed in pps. + * @param None. + * @retval The maximum speed in pps. + */ + virtual unsigned int get_max_speed(void) + { + return (unsigned int)Stspin220_GetMaxSpeed(); + } + + /** + * @brief Getting the minimum speed in pps. + * @param None. + * @retval The minimum speed in pps. + */ + virtual unsigned int get_min_speed(void) + { + return (unsigned int)Stspin220_GetMinSpeed(); + } + + /** + * @brief Getting the acceleration in pps^2. + * @param None. + * @retval The acceleration in pps^2. + */ + virtual unsigned int get_acceleration(void) + { + return (unsigned int)Stspin220_GetAcceleration(); + } + + /** + * @brief Getting the deceleration in pps^2. + * @param None. + * @retval The deceleration in pps^2. + */ + virtual unsigned int get_deceleration(void) + { + return (unsigned int)Stspin220_GetDeceleration(); + } + + /** + * @brief Getting the direction of rotation. + * @param None. + * @retval The direction of rotation. + */ + virtual direction_t get_direction(void) + { + if (Stspin220_GetDirection()!=BACKWARD) + { + return FWD; + } + else + { + return BWD; + } + } + + /** + * @brief Setting the current position to be the home position. + * @param None. + * @retval None. + */ + virtual void set_home(void) + { + Stspin220_SetHome(); + } + + /** + * @brief Setting the current position to be the marked position. + * @param None. + * @retval None. + */ + virtual void set_mark(void) + { + Stspin220_SetMark(); + } + + /** + * @brief Setting the maximum speed in pps. + * @param speed The maximum speed in pps. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_max_speed(unsigned int speed) + { + if (speed <= 0xFFFF) + { + return Stspin220_SetMaxSpeed((uint16_t) speed); + } + else + { + return false; + } + } + + /** + * @brief Setting the minimum speed in pps. + * @param speed The minimum speed in pps. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_min_speed(unsigned int speed) + { + if (speed <= 0xFFFF) + { + return Stspin220_SetMinSpeed((uint16_t) speed); + } + else + { + return false; + } + } + + /** + * @brief Setting the acceleration in pps^2. + * @param acceleration The acceleration in pps/s^2. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_acceleration(unsigned int acceleration) + { + if (acceleration <= 0xFFFF) + { + return Stspin220_SetAcceleration((uint16_t) acceleration); + } + else + { + return false; + } + } -/* Functions --------------------------------------------------------*/ + /** + * @brief Setting the deceleration in pps^2. + * @param deceleration The deceleration in pps^2. + * @retval "true" in case of success, "false" otherwise. + */ + virtual bool set_deceleration(unsigned int deceleration) + { + if (deceleration <= 0xFFFF) + { + return Stspin220_SetDeceleration((uint16_t) deceleration); + } + else + { + return false; + } + } + + /** + * @brief Setting the Step Mode. + * @param step_mode The Step Mode. + * @retval "true" in case of success, "false" otherwise. + * @note step_mode can be one of the following: + * + STEP_MODE_FULL + * + STEP_MODE_WAVE + * + STEP_MODE_HALF + * + STEP_MODE_1_4 + * + STEP_MODE_1_8 + * + STEP_MODE_1_16 + */ + virtual bool set_step_mode(step_mode_t step_mode) + { + return Stspin220_SetStepMode((motorStepMode_t) step_mode); + } + + /** + * @brief Going to a specified position. + * @param position The desired position. + * @retval None. + */ + virtual void go_to(signed int position) + { + Stspin220_GoTo((int32_t)position); + } + + /** + * @brief Going to the home position. + * @param None. + * @retval None. + */ + virtual void go_home(void) + { + Stspin220_GoHome(); + } + + /** + * @brief Going to the marked position. + * @param None. + * @retval None. + */ + virtual void go_mark(void) + { + Stspin220_GoMark(); + } + + /** + * @brief Running the motor towards a specified direction. + * @param direction The direction of rotation. + * @retval None. + */ + virtual void run(direction_t direction) + { + Stspin220_Run((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); + } + + /** + * @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) + { + Stspin220_Move((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps); + } + + /** + * @brief Stopping the motor through an immediate deceleration up to zero speed. + * @param None. + * @retval None. + */ + virtual void soft_stop(void) + { + Stspin220_SoftStop(); + } + + /** + * @brief Stopping the motor through an immediate infinite deceleration. + * @param None. + * @retval None. + */ + virtual void hard_stop(void) + { + Stspin220_HardStop(); + } + + /** + * @brief Disabling the power bridge after performing a deceleration to zero. + * @param None. + * @retval None. + */ + virtual void soft_hiz(void) + { + Stspin220_SetStopMode(HIZ_MODE); + Stspin220_SoftStop(); + } + + /** + * @brief Disabling the power bridge immediately. + * @param None. + * @retval None. + */ + virtual void hard_hiz(void) + { + Stspin220_HardHiZ(); + } + + /** + * @brief Waiting while the motor is active. + * @param None. + * @retval None. + */ + virtual void wait_while_active(void) + { + Stspin220_WaitWhileActive(); + } + + /** + * @brief Public functions NOT inherited + */ + + /** + * @brief Attaching an error handler. + * @param fptr An error handler. + * @retval None. + */ + virtual void attach_error_handler(void (*fptr)(uint16_t error)) + { + Stspin220_AttachErrorHandler((void (*)(uint16_t error)) fptr); + } + + /** + * @brief Checks if the device is disabled or/and has an alarm flag set + * by reading the EN FAULT pin position. + * @param None. + * @retval One if the EN FAULT pin is low (the device is disabled or/and + * has an alarm flag set), otherwise zero. + */ + virtual unsigned int check_status_hw(void) + { + if (!fault_and_enable.read()) return 0x01; + else return 0x00; + } + + /** + * @brief Disabling the device. + * @param None. + * @retval None. + */ + virtual void disable(void) + { + Stspin220_Disable(); + } + + /** + * @brief Enabling the device. + * @param None. + * @retval None. + */ + virtual void enable(void) + { + Stspin220_Enable(); + } + + /** + * @brief Exit STSpin220 device from standby (low power consumption) by + * setting STBY\RESET pin to high level and changing the motion state to + * INACTIVE. + * @param None. + * @retval None. + */ + virtual void exit_device_from_standby(void) + { + Stspin220_ExitDeviceFromStandby(); + } + + /** + * @brief Set the frequency of the VREFA and VREFB PWM + * @param frequency in Hz + * @retval None. + */ + virtual uint32_t get_freq_vref_pwm(void) + { + return Stspin220_VrefPwmGetFreq(); + } + + /** + * @brief Getting the version of the firmware. + * @param None. + * @retval The version of the firmware. + */ + virtual unsigned int get_fw_version(void) + { + return (unsigned int) Stspin220_GetFwVersion(); + } + + /** + * @brief Getting the motor step mode. + * @param None. + * @retval The motor step mode. + */ + virtual step_mode_t get_step_mode(void) + { + return (step_mode_t) Stspin220_get_step_mode(); + } + + /** + * @brief Getting the motor stop mode. + * @param None. + * @retval The motor stop mode. + */ + virtual motorStopMode_t get_stop_mode(void) + { + return Stspin220_GetStopMode(); + } + + /** + * @brief Get the motor torque. + * @param torqueMode Torque mode as specified in enum motorTorqueMode_t + * @retval the torqueValue in % (from 0 to 100) + */ + virtual uint8_t get_torque(motorTorqueMode_t torqueMode) + { + return Stspin220_GetTorque(torqueMode); + } + + /** + * @brief Get the torque boost feature status. + * @param None. + * @retval true if enabled, false if disabled + */ + virtual bool get_torque_boost_enable(void) + { + return Stspin220_GetTorqueBoostEnable(); + } + + /** + * @brief Get the torque boost threshold + * @retval The torque boost threshold above which the step mode is + * changed to full step + */ + virtual uint16_t get_torque_boost_threshold(void) + { + return Stspin220_GetTorqueBoostThreshold(); + } + + /** + * @brief Going to a specified position with a specificied direction. + * @param direction The desired direction. + * @param position The desired position. + * @retval None. + */ + virtual void go_to(direction_t direction, signed int position) + { + Stspin220_GoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position); + } + + /** + * @brief Put STSpin220 device in standby (low power consumption) by + * setting STBY\RESET pin to low level and changing the motion state to + * STANDBY. + * @param None. + * @retval None. + */ + virtual void put_device_in_standby(void) + { + Stspin220_PutDeviceInStandby(); + } -/** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions - * @{ - */ -///Delay of the requested number of milliseconds -extern void Stspin220_Board_Delay(uint32_t delay); -///Enable Irq -extern void Stspin220_Board_EnableIrq(void); -///Disable Irq -extern void Stspin220_Board_DisableIrq(void); -///Setting the Stck Timeout delay and attaching a callback function to it -extern void Stspin220_Board_TimStckSetFreq(uint16_t newFreq); -///Initialises the step clock pin level -extern void Stspin220_Board_TimStckInit(void); -///Stopping the Timeout -extern uint8_t Stspin220_Board_TimStckStop(volatile uint8_t *pToggleOdd); -///Set the duty cycle of the PwmOut used for the REF -extern void Stspin220_Board_PwmRefSetDutyCycle(uint8_t dutyCycle); -///Set the frequency of the PwmOut used for the REF -extern void Stspin220_Board_PwmRefSetFreq(uint32_t newFreq); -///Start the reference voltage pwm -extern void Stspin220_Board_PwmRefStart(void); -///Reset the STSPIN220 reset pin -extern void Stspin220_Board_ReleaseReset(void); -///Set the STSPIN220 reset pin -extern void Stspin220_Board_Reset(void); -///Set direction GPIO -extern void Stspin220_Board_SetDirectionGpio(uint8_t gpioState); -///Reset the STCK\MODE3 pin -extern void Stspin220_Board_StckMode3_Reset(void); -///Set the STCK\MODE3 pin -extern void Stspin220_Board_StckMode3_Set(void); -///Enable the power bridges (leave the output bridges HiZ) -extern void Stspin220_Board_Enable(void); -///Disable the power bridges (leave the output bridges HiZ) -extern void Stspin220_Board_Disable(void); -///Select the STSPIN220 mode1, mode2, mode3 and mode4 pins levels -extern bool Stspin220_Board_SetModePins(uint8_t modePin1Level,\ - uint8_t modePin2Level,\ - uint8_t modePin3Level,\ - uint8_t modePin4Level); -///Select Full Step mode -extern void Stspin220_Board_SetFullStep(void); -///Unselect Full Step mode -extern void Stspin220_Board_UnsetFullStep(void); -/** - * @} - */ + /** + * @brief Release the STSpin220 reset (Reset pin set to high level). + * @param None. + * @retval None. + */ + virtual void release_reset(void) + { + Stspin220_Board_ReleaseReset(); + } + + /** + * @brief Reset the STSpin220 (Reset pin set to low level). + * @param None. + * @retval None. + */ + virtual void reset(void) + { + Stspin220_Board_Reset(); + } + + /** + * @brief Set the motor direction. + * @param direction The desired direction. + * @retval None. + */ + virtual void set_direction(direction_t direction) + { + Stspin220_SetDirection((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD)); + } + + /** + * @brief Set the frequency of the PWM for REF pin + * @param frequency in Hz + * @retval None. + */ + virtual void set_freq_vref_pwm(uint32_t frequency) + { + Stspin220_VrefPwmSetFreq(frequency); + } + + /** + * @brief Set the motor stop mode. + * @param stopMode The desired stop mode (HOLD_MODE, HIZ_MODE or + * STANDBY_MODE). + * @retval None. + */ + virtual void set_stop_mode(motorStopMode_t stopMode) + { + Stspin220_SetStopMode(stopMode); + } + + /** + * @brief Set the motor torque. + * @param torqueMode Torque mode as specified in enum motorTorqueMode_t + * @param torqueValue in % (from 0 to 100) + * @retval None. + */ + virtual void set_torque(motorTorqueMode_t torqueMode, uint8_t torqueValue) + { + Stspin220_SetTorque(torqueMode, torqueValue); + } + + /** + * @brief Enable or disable the motor torque boost feature. + * @param enable enable true to enable torque boost, false to disable + * @retval None. + */ + virtual void set_torque_boost_enable(bool enable) + { + Stspin220_SetTorqueBoostEnable(enable); + } + + /** + * @brief Set the torque boost threshold + * @param[in] speedThreshold speed threshold above which the step mode is + * changed to full step + * @retval None. + */ + virtual void set_torque_boost_threshold(uint16_t speedThreshold) + { + Stspin220_SetTorqueBoostThreshold(speedThreshold); + } + + /*** Public Interrupt Related Methods ***/ + + /* ACTION 6 --------------------------------------------------------------* + * Implement here interrupt related methods, if any. * + * Note that interrupt handling is platform dependent, e.g.: * + * + mbed: * + * InterruptIn feature_irq(pin); //Interrupt object. * + * feature_irq.rise(callback); //Attach a callback. * + * feature_irq.mode(PullNone); //Set interrupt mode. * + * feature_irq.enable_irq(); //Enable interrupt. * + * feature_irq.disable_irq(); //Disable interrupt. * + * + Arduino: * + * attachInterrupt(pin, callback, RISING); //Attach a callback. * + * detachInterrupt(pin); //Detach a callback. * + * * + * Example (mbed): * + * void attach_feature_irq(void (*fptr) (void)) * + * { * + * feature_irq.rise(fptr); * + * } * + * * + * void enable_feature_irq(void) * + * { * + * feature_irq.enable_irq(); * + * } * + * * + * void disable_feature_irq(void) * + * { * + * feature_irq.disable_irq(); * + * } * + *------------------------------------------------------------------------*/ + /** + * @brief Attaching an interrupt handler to the FLAG interrupt. + * @param fptr An interrupt handler. + * @retval None. + */ + + void attach_flag_irq(void (*fptr)(void)) + { + fault_and_enable_irqFunctionPointer = &(*fptr); + fault_and_enable.fall(fptr); + fault_and_enable.mode(PullDown); + wait_ms(1); + } + + /** + * @brief Enabling the FLAG interrupt handling. + * @param None. + * @retval None. + */ + void enable_flag_irq(void) + { + fault_and_enable.enable_irq(); + } + +protected: + + /*** Protected Component Related Methods ***/ + + /* ACTION 7 --------------------------------------------------------------* + * Declare here the component's specific methods. * + * They should be: * + * + Methods with the same name of the C component's virtual table's * + * functions (1); * + * + Methods with the same name of the C component's extended virtual * + * table's functions, if any (2); * + * + Helper methods, if any, like functions declared in the component's * + * source files but not pointed by the component's virtual table (3). * + * * + * Example: * + * status_t COMPONENT_get_value(float *f); //(1) * + * status_t COMPONENT_enable_feature(void); //(2) * + * status_t COMPONENT_compute_average(void); //(3) * + *------------------------------------------------------------------------*/ + status_t Stspin220_Init(void *init); + status_t Stspin220_ReadID(uint8_t *id); + void Stspin220_AttachErrorHandler(void (*callback)(uint16_t error)); + void Stspin220_ApplyTorque(motorTorqueMode_t torqueMode); + void Stspin220_disable(void); + void Stspin220_ErrorHandler(uint16_t error); + void Stspin220_enable(void); + void Stspin220_ExitDeviceFromStandby(void); + uint16_t Stspin220_GetAcceleration(void); + uint16_t Stspin220_GetCurrentSpeed(void); + uint16_t Stspin220_GetDeceleration(void); + motorState_t Stspin220_get_device_state(void); + motorDir_t Stspin220_GetDirection(void); + uint32_t Stspin220_GetFwVersion(void); + int32_t Stspin220_GetMark(void); + uint16_t Stspin220_GetMaxSpeed(void); + uint16_t Stspin220_GetMinSpeed(void); + int32_t Stspin220_GetPosition(void); + motorStepMode_t Stspin220_get_step_mode(void); + motorStopMode_t Stspin220_GetStopMode(void); + uint8_t Stspin220_GetTorque(motorTorqueMode_t torqueMode); + bool Stspin220_GetTorqueBoostenable(void); + uint16_t Stspin220_GetTorqueBoostThreshold(void); + void Stspin220_GoHome(void); + void Stspin220_GoMark(void); + void Stspin220_GoTo(int32_t targetPosition); + void Stspin220_GoToDir(motorDir_t direction, int32_t targetPosition); + void Stspin220_HardHiZ(void); + void Stspin220_HardStop(void); + void Stspin220_Move(motorDir_t direction, uint32_t stepCount); + void Stspin220_PutDeviceInStandby(void); + void Stspin220_Run(motorDir_t direction); + bool Stspin220_SetAcceleration(uint16_t newAcc); + bool Stspin220_SetDeceleration(uint16_t newDec); + void Stspin220_SetDirection(motorDir_t direction); + void Stspin220_SetHome(void); + void Stspin220_SetMark(void); + bool Stspin220_SetMaxSpeed(uint16_t volatile newSpeed); + bool Stspin220_SetMinSpeed(uint16_t volatile newSpeed); + bool Stspin220_SetStepMode(motorStepMode_t stepMode); + void Stspin220_SetStopMode(motorStopMode_t stopMode); + bool Stspin220_SoftStop(void); + void Stspin220_SetTorque(motorTorqueMode_t torqueMode, uint8_t torqueValue); + void Stspin220_SetTorqueBoostEnable(bool enable); + void Stspin220_SetTorqueBoostThreshold(uint16_t speedThreshold); + uint32_t Stspin220_VrefPwmGetFreq(void); + void Stspin220_VrefPwmSetFreq(uint32_t newFreq); + void Stspin220_WaitWhileActive(void); + + /*** Functions intended to be used only internally ***/ + void Stspin220_ApplySpeed(uint16_t newSpeed); + void Stspin220_ComputeSpeedProfile(uint32_t nbSteps); + void Stspin220_SetDeviceParamsToGivenValues(Stspin220_init_t* pInitDevicePrm); + void Stspin220_SetDeviceParamsOtherValues(void); + void Stspin220_SetDeviceParamsToPredefinedValues(void); + bool Stspin220_SetStepModeWithoutReset(motorStepMode_t stepMode); + void Stspin220_StartMovement(void); + void Stspin220_StepClockHandler(void); + + /*** Component's I/O Methods ***/ + + /* 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 Stspin220_Board_Delay(uint32_t delay) + { + wait_ms(delay); + } + + /** + * @brief Disable the power bridges (leave the output bridges HiZ). + * @param None. + * @retval None. + */ + void Stspin220_Board_disable(void) + { + fault_and_enable.disable_irq(); + DigitalOut fault_and_enable(fault_and_enable_pinName); + fault_and_enable.write(0); + } + + /** + * @brief Disabling interrupts. + * @param None. + * @retval None. + */ + void Stspin220_Board_DisableIrq(void) + { + __disable_irq(); + } + + /** + * @brief Enable the power bridges (leave the output bridges HiZ). + * @param None. + * @retval None. + */ + void Stspin220_Board_enable(void) + { + DigitalOut fault_and_enable_do(fault_and_enable_pinName); + fault_and_enable_do.write(1); + fault_and_enable.fall(fault_and_enable_irqFunctionPointer); + fault_and_enable.mode(PullUp); + wait_ms(1); + fault_and_enable.enable_irq(); + } + + /** + * @brief Enabling interrupts. + * @param None. + * @retval None. + */ + void Stspin220_Board_EnableIrq(void) + { + __enable_irq(); + } - /** - * @} - */ + /** + * @brief Set the duty cycle of the PwmOut used for the REF + * reference voltage generation and actually start the pwm if the duty cycle + * is not zero. + * @param[in] dutyCycle 0 - 100% + * @retval None + */ + void Stspin220_Board_PwmRefSetDutyCycle(uint8_t dutyCycle) + { + pwm_ref.write(((float)(100-dutyCycle))/100); + } + + /** + * @brief Set the frequency of the PwmOut used for the REF + * reference voltage generation. + * @param[in] newFreq in Hz. + * @retval None. + */ + void Stspin220_Board_PwmRefSetFreq(uint32_t newFreq) + { + pwm_ref.period_us(1000000.0f/newFreq); + } + + /** + * @brief Start the PwmOut for the REF pin. + * @param[in] frequency frequency of the PwmOut used to generate the REF + * reference voltage for the bridges. + * @param[in] torqueMode Torque mode as specified in enum motorTorqueMode_t + * @retval None. + */ + void Stspin220_Board_PwmRefStart(uint32_t frequency, motorTorqueMode_t torqueMode) + { + /* Setting the period of the PwmOut. */ + pwm_ref.period_us(1000000.0f/frequency); + /* Setting the duty cycle and actually starting the of the PwmOut. */ + Stspin220_ApplyTorque(torqueMode); + wait_ms(5*PWM_FILTER_TIME_CONSTANT); + } + + /** + * @brief Exit the device from standby reset mode. + * @param None. + * @retval None. + */ + void Stspin220_Board_Releasereset(void) + { + stby_reset = 1; + } + + /** + * @brief Put the device in standby reset mode. + * @param None. + * @retval None. + */ + void Stspin220_Board_reset(void) + { + stby_reset = 0; + } + + /** + * @brief Set the DIR\MODE4 pin. + * @param dir motor direction FORWARD or BACKWARD. + * @retval None. + */ + void Stspin220_Board_SetDirectionGpio(motorDir_t dir) + { + if (dir==BACKWARD) direction_mode4 = 0; + else direction_mode4 = 1; + } + + /** + * @brief Select Full Step mode + * @param None. + * @retval None + */ + void Stspin220_Board_SetFullStep(void) + { + mode1 = 0; + mode2 = 0; + } + + /** + * @brief Select the STSpin220 mode1, mode2, mode3 and mode4 pins levels. + * @param[in] modePin1Level level of the mode1 gpio (0 low, 1+ high) + * @param[in] modePin2Level level of the mode2 gpio (0 low, 1+ high) + * @param[in] modePin3Level level of the mode3 gpio (0 low, 1+ high) + * @param[in] modePin4Level level of the mode4 gpio (0 low, 1+ high) + * @retval 1 + */ + uint8_t Stspin220_Board_SetModePins(uint8_t modePin1Level,\ + uint8_t modePin2Level,\ + uint8_t modePin3Level,\ + uint8_t modePin4Level) + { + mode1 = modePin1Level; + mode2 = modePin2Level; + stck_mode3 = modePin3Level; + direction_mode4 = modePin4Level; + return 1; + } + + /** + * @brief Reset the STCK\MODE3 pin. + * @param None. + * @retval None. + */ + void Stspin220_Board_StckMode3_reset(void) + { + stck_mode3 = 0; + } + + /** + * @brief Set the STCK\MODE3 pin. + * @param None. + * @retval None. + */ + void Stspin220_Board_StckMode3_Set(void) + { + stck_mode3 = 1; + } + + /** + * @brief Initialises the step clock pin level + * @param None. + * @retval None + */ + void Stspin220_Board_TimStckInit(bool check) + { + if (monitor.is_connected()) monitor = 0; + if (check==false) stck_mode3 = 0; + else if (stck_mode3==1) Stspin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK); + } -/** - * @} - */ - -#ifdef __cplusplus - } -#endif + /** + * @brief Setting the Stck Timeout delay + * and attaching a callback function to it. + * @param frequency The frequency corresponding to the delay. + * @retval None. + */ + void Stspin220_Board_TimStckSetFreq(uint16_t newFreq) + { + /* Computing the delay of the Timeout. */ + float delay_us = (1000000.0f / 2 )/ newFreq; + + /* Attaching a function which updates */ + /* the state machine after the elapsed period_us time. */ + tim_stck.attach_us(this, &STSpin220::Stspin220_StepClockHandler, delay_us); + } + + void Stspin220_Board_Monitor_Set(void) + { + if (monitor.is_connected()) monitor = 1; + } + + void Stspin220_Board_Monitor_reset(void) + { + if (monitor.is_connected()) monitor = 0; + } + + /** + * @brief Stopping the Timeout. + * @param None. + * @retval None. + */ + uint8_t Stspin220_Board_TimStckStop(volatile uint8_t *pToggleOdd) + { + __disable_irq(); + if (*pToggleOdd == 1) + { + __enable_irq(); + return 1; + } + if (stck_mode3 != 0) + { + __enable_irq(); + return 0; + } + tim_stck.detach(); + __enable_irq(); + return 1; + } + + /** + * @brief Unselect Full Step mode + * @param None. + * @retval None + */ + void Stspin220_Board_UnsetFullStep(void) + { + mode1 = 1; + } + +protected: + + /*** Component's Instance Variables ***/ -#endif /* #ifndef __STSPIN220_H */ + /* 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; * + *------------------------------------------------------------------------*/ + /* Fault Interrupt and chip enable. */ + InterruptIn fault_and_enable; + + /* Interrupt to toggle the MODE3\STCK pin */ + Timeout tim_stck; + + /* ACTION 10 -------------------------------------------------------------* + * Declare here other pin related variables, if needed. * + * * + * Example: * + * + mbed: * + * DigitalOut standby_reset; * + *------------------------------------------------------------------------*/ + /* STBY\RESET pin. */ + DigitalOut stby_reset; + /* MODE4\DIR pin. */ + DigitalOut direction_mode4; + /* MODE1 pin */ + DigitalOut mode1; + /* MODE2 pin */ + DigitalOut mode2; + /* MODE3\STCK pin. */ + DigitalOut stck_mode3; + + /* Pulse Width Modulation pin for REF pin */ + PwmOut pwm_ref; + + /* Monitoring of step clock handler duration */ + DigitalOut monitor; -/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/ + /* fault and enable pin */ + PinName fault_and_enable_pinName; + + /* ACTION 11 -------------------------------------------------------------* + * Declare here communication related variables, if needed. * + * * + * Example: * + * + mbed: * + * DigitalOut ssel; * + * DevSPI &dev_spi; * + *------------------------------------------------------------------------*/ + /* Configuration. */ + + /* IO Device. */ + + /* 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 (*fault_and_enable_irqFunctionPointer)(void); + void (*errorHandlerCallback)(uint16_t error); + deviceParams_t devicePrm; + uint8_t deviceInstance; + volatile uint8_t toggleOdd; + + /* Static data. */ + static uint8_t numberOfDevices; + +public: + + /* Static data. */ + +}; + +#endif // __STSPIN220_CLASS_H + +/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/