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.
Components/stspin220/stspin220.h@0:0ccd34c56c66, 2016-05-26 (annotated)
- Committer:
- nucleosam
- Date:
- Thu May 26 15:44:53 2016 +0000
- Revision:
- 0:0ccd34c56c66
- Child:
- 3:a132aa6d66e4
Initial version.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucleosam | 0:0ccd34c56c66 | 1 | /******************************************************//** |
nucleosam | 0:0ccd34c56c66 | 2 | * @file stspin220.h |
nucleosam | 0:0ccd34c56c66 | 3 | * @author IPC Rennes |
nucleosam | 0:0ccd34c56c66 | 4 | * @version V1.1.0 |
nucleosam | 0:0ccd34c56c66 | 5 | * @date May 26th, 2016 |
nucleosam | 0:0ccd34c56c66 | 6 | * @brief Header for STSPIN220 driver (fully integrated microstepping motor driver) |
nucleosam | 0:0ccd34c56c66 | 7 | * @note (C) COPYRIGHT 2016 STMicroelectronics |
nucleosam | 0:0ccd34c56c66 | 8 | ****************************************************************************** |
nucleosam | 0:0ccd34c56c66 | 9 | * @attention |
nucleosam | 0:0ccd34c56c66 | 10 | * |
nucleosam | 0:0ccd34c56c66 | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
nucleosam | 0:0ccd34c56c66 | 12 | * |
nucleosam | 0:0ccd34c56c66 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
nucleosam | 0:0ccd34c56c66 | 14 | * are permitted provided that the following conditions are met: |
nucleosam | 0:0ccd34c56c66 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
nucleosam | 0:0ccd34c56c66 | 16 | * this list of conditions and the following disclaimer. |
nucleosam | 0:0ccd34c56c66 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
nucleosam | 0:0ccd34c56c66 | 18 | * this list of conditions and the following disclaimer in the documentation |
nucleosam | 0:0ccd34c56c66 | 19 | * and/or other materials provided with the distribution. |
nucleosam | 0:0ccd34c56c66 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
nucleosam | 0:0ccd34c56c66 | 21 | * may be used to endorse or promote products derived from this software |
nucleosam | 0:0ccd34c56c66 | 22 | * without specific prior written permission. |
nucleosam | 0:0ccd34c56c66 | 23 | * |
nucleosam | 0:0ccd34c56c66 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
nucleosam | 0:0ccd34c56c66 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
nucleosam | 0:0ccd34c56c66 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
nucleosam | 0:0ccd34c56c66 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
nucleosam | 0:0ccd34c56c66 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
nucleosam | 0:0ccd34c56c66 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
nucleosam | 0:0ccd34c56c66 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nucleosam | 0:0ccd34c56c66 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
nucleosam | 0:0ccd34c56c66 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
nucleosam | 0:0ccd34c56c66 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
nucleosam | 0:0ccd34c56c66 | 34 | * |
nucleosam | 0:0ccd34c56c66 | 35 | ****************************************************************************** |
nucleosam | 0:0ccd34c56c66 | 36 | */ |
nucleosam | 0:0ccd34c56c66 | 37 | |
nucleosam | 0:0ccd34c56c66 | 38 | /* Define to prevent recursive inclusion -------------------------------------*/ |
nucleosam | 0:0ccd34c56c66 | 39 | #ifndef __STSPIN220_H |
nucleosam | 0:0ccd34c56c66 | 40 | #define __STSPIN220_H |
nucleosam | 0:0ccd34c56c66 | 41 | |
nucleosam | 0:0ccd34c56c66 | 42 | #ifdef __cplusplus |
nucleosam | 0:0ccd34c56c66 | 43 | extern "C" { |
nucleosam | 0:0ccd34c56c66 | 44 | #endif |
nucleosam | 0:0ccd34c56c66 | 45 | |
nucleosam | 0:0ccd34c56c66 | 46 | /* Includes ------------------------------------------------------------------*/ |
nucleosam | 0:0ccd34c56c66 | 47 | #include "stspin220_target_config.h" |
nucleosam | 0:0ccd34c56c66 | 48 | #include "motor.h" |
nucleosam | 0:0ccd34c56c66 | 49 | |
nucleosam | 0:0ccd34c56c66 | 50 | /* Definitions ---------------------------------------------------------------*/ |
nucleosam | 0:0ccd34c56c66 | 51 | |
nucleosam | 0:0ccd34c56c66 | 52 | /** @addtogroup Components |
nucleosam | 0:0ccd34c56c66 | 53 | * @{ |
nucleosam | 0:0ccd34c56c66 | 54 | */ |
nucleosam | 0:0ccd34c56c66 | 55 | |
nucleosam | 0:0ccd34c56c66 | 56 | /** @defgroup STSPIN220 |
nucleosam | 0:0ccd34c56c66 | 57 | * @{ |
nucleosam | 0:0ccd34c56c66 | 58 | */ |
nucleosam | 0:0ccd34c56c66 | 59 | |
nucleosam | 0:0ccd34c56c66 | 60 | /** @defgroup Stspin220_Exported_Constants Stspin220 Exported Constants |
nucleosam | 0:0ccd34c56c66 | 61 | * @{ |
nucleosam | 0:0ccd34c56c66 | 62 | */ |
nucleosam | 0:0ccd34c56c66 | 63 | /// Current FW major version |
nucleosam | 0:0ccd34c56c66 | 64 | #define STSPIN220_FW_MAJOR_VERSION (uint8_t)(1) |
nucleosam | 0:0ccd34c56c66 | 65 | /// Current FW minor version |
nucleosam | 0:0ccd34c56c66 | 66 | #define STSPIN220_FW_MINOR_VERSION (uint8_t)(1) |
nucleosam | 0:0ccd34c56c66 | 67 | /// Current FW patch version |
nucleosam | 0:0ccd34c56c66 | 68 | #define STSPIN220_FW_PATCH_VERSION (uint8_t)(0) |
nucleosam | 0:0ccd34c56c66 | 69 | /// Current FW version |
nucleosam | 0:0ccd34c56c66 | 70 | #define STSPIN220_FW_VERSION (uint32_t)((STSPIN220_FW_MAJOR_VERSION<<16)|\ |
nucleosam | 0:0ccd34c56c66 | 71 | (STSPIN220_FW_MINOR_VERSION<<8)|\ |
nucleosam | 0:0ccd34c56c66 | 72 | (STSPIN220_FW_PATCH_VERSION)) |
nucleosam | 0:0ccd34c56c66 | 73 | |
nucleosam | 0:0ccd34c56c66 | 74 | /// Max position |
nucleosam | 0:0ccd34c56c66 | 75 | #define STSPIN220_MAX_POSITION (0x7FFFFFFF) |
nucleosam | 0:0ccd34c56c66 | 76 | |
nucleosam | 0:0ccd34c56c66 | 77 | /// Min position |
nucleosam | 0:0ccd34c56c66 | 78 | #define STSPIN220_MIN_POSITION (0x80000000) |
nucleosam | 0:0ccd34c56c66 | 79 | |
nucleosam | 0:0ccd34c56c66 | 80 | /// Position range |
nucleosam | 0:0ccd34c56c66 | 81 | #define STSPIN220_POSITION_RANGE ((uint32_t)(STSPIN220_MAX_POSITION -\ |
nucleosam | 0:0ccd34c56c66 | 82 | STSPIN220_MIN_POSITION)) |
nucleosam | 0:0ccd34c56c66 | 83 | /// STSPIN220 error base number |
nucleosam | 0:0ccd34c56c66 | 84 | #define STSPIN220_ERROR_BASE (0xA000) |
nucleosam | 0:0ccd34c56c66 | 85 | |
nucleosam | 0:0ccd34c56c66 | 86 | /// run bit mask |
nucleosam | 0:0ccd34c56c66 | 87 | #define STSPIN220_RUN_BIT_MASK (0x01) |
nucleosam | 0:0ccd34c56c66 | 88 | |
nucleosam | 0:0ccd34c56c66 | 89 | /// move bit mask |
nucleosam | 0:0ccd34c56c66 | 90 | #define STSPIN220_MOVE_BIT_MASK (0x02) |
nucleosam | 0:0ccd34c56c66 | 91 | |
nucleosam | 0:0ccd34c56c66 | 92 | /// soft stop bit mask |
nucleosam | 0:0ccd34c56c66 | 93 | #define STSPIN220_SOFT_STOP_BIT_MASK (0x04) |
nucleosam | 0:0ccd34c56c66 | 94 | |
nucleosam | 0:0ccd34c56c66 | 95 | /// direction change bit mask |
nucleosam | 0:0ccd34c56c66 | 96 | #define STSPIN220_DIR_CHANGE_BIT_MASK (0x08) |
nucleosam | 0:0ccd34c56c66 | 97 | |
nucleosam | 0:0ccd34c56c66 | 98 | /// Maximum frequency of the step clock frequency in Hz |
nucleosam | 0:0ccd34c56c66 | 99 | #define STSPIN220_MAX_STCK_FREQ (10000) |
nucleosam | 0:0ccd34c56c66 | 100 | |
nucleosam | 0:0ccd34c56c66 | 101 | /// Minimum frequency of the step clock frequency in Hz |
nucleosam | 0:0ccd34c56c66 | 102 | #define STSPIN220_MIN_STCK_FREQ (8) |
nucleosam | 0:0ccd34c56c66 | 103 | |
nucleosam | 0:0ccd34c56c66 | 104 | /// Minimum duration of standby |
nucleosam | 0:0ccd34c56c66 | 105 | #define STANDBY_MIN_DURATION (1) |
nucleosam | 0:0ccd34c56c66 | 106 | |
nucleosam | 0:0ccd34c56c66 | 107 | /// Dead time after standby exit |
nucleosam | 0:0ccd34c56c66 | 108 | #define AFTER_STANDBY_EXIT_DEAD_TIME (1) |
nucleosam | 0:0ccd34c56c66 | 109 | |
nucleosam | 0:0ccd34c56c66 | 110 | /// Reset delay to select step mode |
nucleosam | 0:0ccd34c56c66 | 111 | #define SELECT_STEP_MODE_DELAY (1) |
nucleosam | 0:0ccd34c56c66 | 112 | |
nucleosam | 0:0ccd34c56c66 | 113 | /// PWM REF and bridges disable delay |
nucleosam | 0:0ccd34c56c66 | 114 | #define DISABLE_DELAY (1) |
nucleosam | 0:0ccd34c56c66 | 115 | |
nucleosam | 0:0ccd34c56c66 | 116 | /// Microstepping sequencer maximum value |
nucleosam | 0:0ccd34c56c66 | 117 | #define SEQUENCER_MAX_VALUE (uint16_t)(0x3FF) |
nucleosam | 0:0ccd34c56c66 | 118 | |
nucleosam | 0:0ccd34c56c66 | 119 | /// MCU wait time after power bridges are enabled |
nucleosam | 0:0ccd34c56c66 | 120 | #define BRIDGE_TURN_ON_DELAY (10) |
nucleosam | 0:0ccd34c56c66 | 121 | |
nucleosam | 0:0ccd34c56c66 | 122 | /// RC Filtering delay on the PWM |
nucleosam | 0:0ccd34c56c66 | 123 | #define PWM_FILTER_TIME_CONSTANT (5) |
nucleosam | 0:0ccd34c56c66 | 124 | /** |
nucleosam | 0:0ccd34c56c66 | 125 | * @} |
nucleosam | 0:0ccd34c56c66 | 126 | */ |
nucleosam | 0:0ccd34c56c66 | 127 | |
nucleosam | 0:0ccd34c56c66 | 128 | /* Types ---------------------------------------------------------------------*/ |
nucleosam | 0:0ccd34c56c66 | 129 | |
nucleosam | 0:0ccd34c56c66 | 130 | /** @defgroup Stspin220_Exported_Types Stspin220 Exported Types |
nucleosam | 0:0ccd34c56c66 | 131 | * @{ |
nucleosam | 0:0ccd34c56c66 | 132 | */ |
nucleosam | 0:0ccd34c56c66 | 133 | |
nucleosam | 0:0ccd34c56c66 | 134 | /** @defgroup Error_Types Error Types |
nucleosam | 0:0ccd34c56c66 | 135 | * @{ |
nucleosam | 0:0ccd34c56c66 | 136 | */ |
nucleosam | 0:0ccd34c56c66 | 137 | /// Errors |
nucleosam | 0:0ccd34c56c66 | 138 | typedef enum { |
nucleosam | 0:0ccd34c56c66 | 139 | STSPIN220_ERROR_SET_HOME = STSPIN220_ERROR_BASE, /// Error while setting home position |
nucleosam | 0:0ccd34c56c66 | 140 | STSPIN220_ERROR_SET_MAX_SPEED = STSPIN220_ERROR_BASE + 1, /// Error while setting max speed |
nucleosam | 0:0ccd34c56c66 | 141 | STSPIN220_ERROR_SET_MIN_SPEED = STSPIN220_ERROR_BASE + 2, /// Error while setting min speed |
nucleosam | 0:0ccd34c56c66 | 142 | STSPIN220_ERROR_SET_ACCELERATION = STSPIN220_ERROR_BASE + 3, /// Error while setting acceleration |
nucleosam | 0:0ccd34c56c66 | 143 | STSPIN220_ERROR_SET_DECELERATION = STSPIN220_ERROR_BASE + 4, /// Error while setting decelaration |
nucleosam | 0:0ccd34c56c66 | 144 | STSPIN220_ERROR_MCU_OSC_CONFIG = STSPIN220_ERROR_BASE + 5, /// Error while configuring mcu oscillator |
nucleosam | 0:0ccd34c56c66 | 145 | STSPIN220_ERROR_MCU_CLOCK_CONFIG = STSPIN220_ERROR_BASE + 6, /// Error while configuring mcu clock |
nucleosam | 0:0ccd34c56c66 | 146 | STSPIN220_ERROR_POSITION = STSPIN220_ERROR_BASE + 7, /// Unexpected current position (wrong number of steps) |
nucleosam | 0:0ccd34c56c66 | 147 | STSPIN220_ERROR_SPEED = STSPIN220_ERROR_BASE + 8, /// Unexpected current speed |
nucleosam | 0:0ccd34c56c66 | 148 | STSPIN220_ERROR_INIT = STSPIN220_ERROR_BASE + 9, /// Unexpected number of devices or unexpected value for predefined parameter |
nucleosam | 0:0ccd34c56c66 | 149 | STSPIN220_ERROR_SET_DIRECTION = STSPIN220_ERROR_BASE + 10, /// Error while setting direction |
nucleosam | 0:0ccd34c56c66 | 150 | STSPIN220_ERROR_SET_STEP_MODE = STSPIN220_ERROR_BASE + 11, /// Attempt to set an unsupported step mode |
nucleosam | 0:0ccd34c56c66 | 151 | STSPIN220_ERROR_APPLY_SPEED = STSPIN220_ERROR_BASE + 12, /// Error while applying speed |
nucleosam | 0:0ccd34c56c66 | 152 | STSPIN220_ERROR_SET_TORQUE = STSPIN220_ERROR_BASE + 13, /// Error while setting torque |
nucleosam | 0:0ccd34c56c66 | 153 | STSPIN220_ERROR_STEP_CLOCK = STSPIN220_ERROR_BASE + 14 /// Error related to step clock |
nucleosam | 0:0ccd34c56c66 | 154 | }errorTypes_t; |
nucleosam | 0:0ccd34c56c66 | 155 | /** |
nucleosam | 0:0ccd34c56c66 | 156 | * @} |
nucleosam | 0:0ccd34c56c66 | 157 | */ |
nucleosam | 0:0ccd34c56c66 | 158 | |
nucleosam | 0:0ccd34c56c66 | 159 | /** @defgroup Device_Commands Device Commands |
nucleosam | 0:0ccd34c56c66 | 160 | * @{ |
nucleosam | 0:0ccd34c56c66 | 161 | */ |
nucleosam | 0:0ccd34c56c66 | 162 | /// Device commands |
nucleosam | 0:0ccd34c56c66 | 163 | typedef enum { |
nucleosam | 0:0ccd34c56c66 | 164 | NO_CMD = 0x00, |
nucleosam | 0:0ccd34c56c66 | 165 | RUN_CMD = (STSPIN220_RUN_BIT_MASK), |
nucleosam | 0:0ccd34c56c66 | 166 | MOVE_CMD = (STSPIN220_MOVE_BIT_MASK), |
nucleosam | 0:0ccd34c56c66 | 167 | } deviceCommand_t; |
nucleosam | 0:0ccd34c56c66 | 168 | /** |
nucleosam | 0:0ccd34c56c66 | 169 | * @} |
nucleosam | 0:0ccd34c56c66 | 170 | */ |
nucleosam | 0:0ccd34c56c66 | 171 | |
nucleosam | 0:0ccd34c56c66 | 172 | /** @defgroup Device_Parameters Device Parameters |
nucleosam | 0:0ccd34c56c66 | 173 | * @{ |
nucleosam | 0:0ccd34c56c66 | 174 | */ |
nucleosam | 0:0ccd34c56c66 | 175 | /// Device Parameters Structure Type |
nucleosam | 0:0ccd34c56c66 | 176 | typedef struct { |
nucleosam | 0:0ccd34c56c66 | 177 | /// accumulator used to store speed increase smaller than 1 pps |
nucleosam | 0:0ccd34c56c66 | 178 | volatile uint32_t accu; |
nucleosam | 0:0ccd34c56c66 | 179 | /// Position in microstep according to current step mode |
nucleosam | 0:0ccd34c56c66 | 180 | volatile int32_t currentPosition; |
nucleosam | 0:0ccd34c56c66 | 181 | /// Position of sequencer |
nucleosam | 0:0ccd34c56c66 | 182 | volatile int16_t sequencerPosition; |
nucleosam | 0:0ccd34c56c66 | 183 | /// mark position in microstep (motor position control mode) |
nucleosam | 0:0ccd34c56c66 | 184 | volatile int32_t markPosition; |
nucleosam | 0:0ccd34c56c66 | 185 | /// position in microstep at the end of the accelerating phase |
nucleosam | 0:0ccd34c56c66 | 186 | volatile uint32_t endAccPos; |
nucleosam | 0:0ccd34c56c66 | 187 | /// nb of in microstep performed from the beggining of the goto or the move command |
nucleosam | 0:0ccd34c56c66 | 188 | volatile uint32_t relativePos; |
nucleosam | 0:0ccd34c56c66 | 189 | /// position in microstep step at the start of the decelerating phase |
nucleosam | 0:0ccd34c56c66 | 190 | volatile uint32_t startDecPos; |
nucleosam | 0:0ccd34c56c66 | 191 | /// nb of microstep steps to perform for the goto or move commands |
nucleosam | 0:0ccd34c56c66 | 192 | uint32_t stepsToTake; |
nucleosam | 0:0ccd34c56c66 | 193 | |
nucleosam | 0:0ccd34c56c66 | 194 | /// constant speed phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 195 | volatile uint8_t runTorque; |
nucleosam | 0:0ccd34c56c66 | 196 | /// acceleration phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 197 | volatile uint8_t accelTorque; |
nucleosam | 0:0ccd34c56c66 | 198 | /// deceleration phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 199 | volatile uint8_t decelTorque; |
nucleosam | 0:0ccd34c56c66 | 200 | /// holding phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 201 | volatile uint8_t holdTorque; |
nucleosam | 0:0ccd34c56c66 | 202 | /// current selected torque value |
nucleosam | 0:0ccd34c56c66 | 203 | volatile uint8_t currentTorque; |
nucleosam | 0:0ccd34c56c66 | 204 | /// torque update |
nucleosam | 0:0ccd34c56c66 | 205 | volatile bool updateTorque; |
nucleosam | 0:0ccd34c56c66 | 206 | /// PWM frequency used to generate REF voltage |
nucleosam | 0:0ccd34c56c66 | 207 | volatile uint32_t refPwmFreq; |
nucleosam | 0:0ccd34c56c66 | 208 | /// torque boost enable |
nucleosam | 0:0ccd34c56c66 | 209 | volatile bool torqueBoostEnable; |
nucleosam | 0:0ccd34c56c66 | 210 | /// torque boost speed threshold |
nucleosam | 0:0ccd34c56c66 | 211 | volatile uint16_t torqueBoostSpeedThreshold; |
nucleosam | 0:0ccd34c56c66 | 212 | |
nucleosam | 0:0ccd34c56c66 | 213 | /// acceleration in pps^2 |
nucleosam | 0:0ccd34c56c66 | 214 | volatile uint16_t acceleration; |
nucleosam | 0:0ccd34c56c66 | 215 | /// deceleration in pps^2 |
nucleosam | 0:0ccd34c56c66 | 216 | volatile uint16_t deceleration; |
nucleosam | 0:0ccd34c56c66 | 217 | /// max speed in pps (speed use for goto or move command) |
nucleosam | 0:0ccd34c56c66 | 218 | volatile uint16_t maxSpeed; |
nucleosam | 0:0ccd34c56c66 | 219 | /// min speed in pps |
nucleosam | 0:0ccd34c56c66 | 220 | volatile uint16_t minSpeed; |
nucleosam | 0:0ccd34c56c66 | 221 | /// current speed in pps |
nucleosam | 0:0ccd34c56c66 | 222 | volatile uint16_t speed; |
nucleosam | 0:0ccd34c56c66 | 223 | |
nucleosam | 0:0ccd34c56c66 | 224 | /// command under execution |
nucleosam | 0:0ccd34c56c66 | 225 | volatile deviceCommand_t commandExecuted; |
nucleosam | 0:0ccd34c56c66 | 226 | /// FORWARD or BACKWARD direction |
nucleosam | 0:0ccd34c56c66 | 227 | volatile motorDir_t direction; |
nucleosam | 0:0ccd34c56c66 | 228 | /// current state of the device |
nucleosam | 0:0ccd34c56c66 | 229 | volatile motorState_t motionState; |
nucleosam | 0:0ccd34c56c66 | 230 | /// current step mode |
nucleosam | 0:0ccd34c56c66 | 231 | volatile motorStepMode_t stepMode; |
nucleosam | 0:0ccd34c56c66 | 232 | /// latched step mode |
nucleosam | 0:0ccd34c56c66 | 233 | motorStepMode_t stepModeLatched; |
nucleosam | 0:0ccd34c56c66 | 234 | /// current stop mode |
nucleosam | 0:0ccd34c56c66 | 235 | motorStopMode_t stopMode; |
nucleosam | 0:0ccd34c56c66 | 236 | |
nucleosam | 0:0ccd34c56c66 | 237 | }deviceParams_t; |
nucleosam | 0:0ccd34c56c66 | 238 | /** |
nucleosam | 0:0ccd34c56c66 | 239 | * @} |
nucleosam | 0:0ccd34c56c66 | 240 | */ |
nucleosam | 0:0ccd34c56c66 | 241 | |
nucleosam | 0:0ccd34c56c66 | 242 | /// Motor driver initialization structure definition |
nucleosam | 0:0ccd34c56c66 | 243 | typedef struct |
nucleosam | 0:0ccd34c56c66 | 244 | { |
nucleosam | 0:0ccd34c56c66 | 245 | /// acceleration in pps^2 |
nucleosam | 0:0ccd34c56c66 | 246 | uint16_t acceleration; |
nucleosam | 0:0ccd34c56c66 | 247 | /// deceleration in pps^2 |
nucleosam | 0:0ccd34c56c66 | 248 | uint16_t deceleration; |
nucleosam | 0:0ccd34c56c66 | 249 | /// max speed in pps (speed use for goto or move command) |
nucleosam | 0:0ccd34c56c66 | 250 | uint16_t maxSpeed; |
nucleosam | 0:0ccd34c56c66 | 251 | /// min speed in pps |
nucleosam | 0:0ccd34c56c66 | 252 | uint16_t minSpeed; |
nucleosam | 0:0ccd34c56c66 | 253 | /// acceleration phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 254 | uint8_t accelTorque; |
nucleosam | 0:0ccd34c56c66 | 255 | /// deceleration phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 256 | uint8_t decelTorque; |
nucleosam | 0:0ccd34c56c66 | 257 | /// constant speed phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 258 | uint8_t runTorque; |
nucleosam | 0:0ccd34c56c66 | 259 | /// holding phase torque value (%) |
nucleosam | 0:0ccd34c56c66 | 260 | uint8_t holdTorque; |
nucleosam | 0:0ccd34c56c66 | 261 | /// torque boost enable |
nucleosam | 0:0ccd34c56c66 | 262 | bool torqueBoostEnable; |
nucleosam | 0:0ccd34c56c66 | 263 | /// torque boost speed threshold |
nucleosam | 0:0ccd34c56c66 | 264 | uint16_t torqueBoostSpeedThreshold; |
nucleosam | 0:0ccd34c56c66 | 265 | /// step mode |
nucleosam | 0:0ccd34c56c66 | 266 | motorStepMode_t stepMode; |
nucleosam | 0:0ccd34c56c66 | 267 | /// stop mode |
nucleosam | 0:0ccd34c56c66 | 268 | motorStopMode_t stopMode; |
nucleosam | 0:0ccd34c56c66 | 269 | /// PWM frequency used to generate REF voltage |
nucleosam | 0:0ccd34c56c66 | 270 | uint32_t vrefPwmFreq; |
nucleosam | 0:0ccd34c56c66 | 271 | } Stspin220_Init_t; |
nucleosam | 0:0ccd34c56c66 | 272 | /** |
nucleosam | 0:0ccd34c56c66 | 273 | * @} |
nucleosam | 0:0ccd34c56c66 | 274 | */ |
nucleosam | 0:0ccd34c56c66 | 275 | |
nucleosam | 0:0ccd34c56c66 | 276 | /** |
nucleosam | 0:0ccd34c56c66 | 277 | * @} |
nucleosam | 0:0ccd34c56c66 | 278 | */ |
nucleosam | 0:0ccd34c56c66 | 279 | |
nucleosam | 0:0ccd34c56c66 | 280 | /* Functions --------------------------------------------------------*/ |
nucleosam | 0:0ccd34c56c66 | 281 | |
nucleosam | 0:0ccd34c56c66 | 282 | /** @defgroup MotorControl_Board_Linked_Functions MotorControl Board Linked Functions |
nucleosam | 0:0ccd34c56c66 | 283 | * @{ |
nucleosam | 0:0ccd34c56c66 | 284 | */ |
nucleosam | 0:0ccd34c56c66 | 285 | ///Delay of the requested number of milliseconds |
nucleosam | 0:0ccd34c56c66 | 286 | extern void Stspin220_Board_Delay(uint32_t delay); |
nucleosam | 0:0ccd34c56c66 | 287 | ///Enable Irq |
nucleosam | 0:0ccd34c56c66 | 288 | extern void Stspin220_Board_EnableIrq(void); |
nucleosam | 0:0ccd34c56c66 | 289 | ///Disable Irq |
nucleosam | 0:0ccd34c56c66 | 290 | extern void Stspin220_Board_DisableIrq(void); |
nucleosam | 0:0ccd34c56c66 | 291 | ///Setting the Stck Timeout delay and attaching a callback function to it |
nucleosam | 0:0ccd34c56c66 | 292 | extern void Stspin220_Board_TimStckSetFreq(uint16_t newFreq); |
nucleosam | 0:0ccd34c56c66 | 293 | ///Initialises the step clock pin level |
nucleosam | 0:0ccd34c56c66 | 294 | extern void Stspin220_Board_TimStckInit(void); |
nucleosam | 0:0ccd34c56c66 | 295 | ///Stopping the Timeout |
nucleosam | 0:0ccd34c56c66 | 296 | extern uint8_t Stspin220_Board_TimStckStop(volatile uint8_t *pToggleOdd); |
nucleosam | 0:0ccd34c56c66 | 297 | ///Set the duty cycle of the PwmOut used for the REF |
nucleosam | 0:0ccd34c56c66 | 298 | extern void Stspin220_Board_PwmRefSetDutyCycle(uint8_t dutyCycle); |
nucleosam | 0:0ccd34c56c66 | 299 | ///Set the frequency of the PwmOut used for the REF |
nucleosam | 0:0ccd34c56c66 | 300 | extern void Stspin220_Board_PwmRefSetFreq(uint32_t newFreq); |
nucleosam | 0:0ccd34c56c66 | 301 | ///Start the reference voltage pwm |
nucleosam | 0:0ccd34c56c66 | 302 | extern void Stspin220_Board_PwmRefStart(void); |
nucleosam | 0:0ccd34c56c66 | 303 | ///Reset the STSPIN220 reset pin |
nucleosam | 0:0ccd34c56c66 | 304 | extern void Stspin220_Board_ReleaseReset(void); |
nucleosam | 0:0ccd34c56c66 | 305 | ///Set the STSPIN220 reset pin |
nucleosam | 0:0ccd34c56c66 | 306 | extern void Stspin220_Board_Reset(void); |
nucleosam | 0:0ccd34c56c66 | 307 | ///Set direction GPIO |
nucleosam | 0:0ccd34c56c66 | 308 | extern void Stspin220_Board_SetDirectionGpio(uint8_t gpioState); |
nucleosam | 0:0ccd34c56c66 | 309 | ///Reset the STCK\MODE3 pin |
nucleosam | 0:0ccd34c56c66 | 310 | extern void Stspin220_Board_StckMode3_Reset(void); |
nucleosam | 0:0ccd34c56c66 | 311 | ///Set the STCK\MODE3 pin |
nucleosam | 0:0ccd34c56c66 | 312 | extern void Stspin220_Board_StckMode3_Set(void); |
nucleosam | 0:0ccd34c56c66 | 313 | ///Enable the power bridges (leave the output bridges HiZ) |
nucleosam | 0:0ccd34c56c66 | 314 | extern void Stspin220_Board_Enable(void); |
nucleosam | 0:0ccd34c56c66 | 315 | ///Disable the power bridges (leave the output bridges HiZ) |
nucleosam | 0:0ccd34c56c66 | 316 | extern void Stspin220_Board_Disable(void); |
nucleosam | 0:0ccd34c56c66 | 317 | ///Select the STSPIN220 mode1, mode2, mode3 and mode4 pins levels |
nucleosam | 0:0ccd34c56c66 | 318 | extern bool Stspin220_Board_SetModePins(uint8_t modePin1Level,\ |
nucleosam | 0:0ccd34c56c66 | 319 | uint8_t modePin2Level,\ |
nucleosam | 0:0ccd34c56c66 | 320 | uint8_t modePin3Level,\ |
nucleosam | 0:0ccd34c56c66 | 321 | uint8_t modePin4Level); |
nucleosam | 0:0ccd34c56c66 | 322 | ///Select Full Step mode |
nucleosam | 0:0ccd34c56c66 | 323 | extern void Stspin220_Board_SetFullStep(void); |
nucleosam | 0:0ccd34c56c66 | 324 | ///Unselect Full Step mode |
nucleosam | 0:0ccd34c56c66 | 325 | extern void Stspin220_Board_UnsetFullStep(void); |
nucleosam | 0:0ccd34c56c66 | 326 | /** |
nucleosam | 0:0ccd34c56c66 | 327 | * @} |
nucleosam | 0:0ccd34c56c66 | 328 | */ |
nucleosam | 0:0ccd34c56c66 | 329 | |
nucleosam | 0:0ccd34c56c66 | 330 | /** |
nucleosam | 0:0ccd34c56c66 | 331 | * @} |
nucleosam | 0:0ccd34c56c66 | 332 | */ |
nucleosam | 0:0ccd34c56c66 | 333 | |
nucleosam | 0:0ccd34c56c66 | 334 | /** |
nucleosam | 0:0ccd34c56c66 | 335 | * @} |
nucleosam | 0:0ccd34c56c66 | 336 | */ |
nucleosam | 0:0ccd34c56c66 | 337 | |
nucleosam | 0:0ccd34c56c66 | 338 | #ifdef __cplusplus |
nucleosam | 0:0ccd34c56c66 | 339 | } |
nucleosam | 0:0ccd34c56c66 | 340 | #endif |
nucleosam | 0:0ccd34c56c66 | 341 | |
nucleosam | 0:0ccd34c56c66 | 342 | #endif /* #ifndef __STSPIN220_H */ |
nucleosam | 0:0ccd34c56c66 | 343 | |
nucleosam | 0:0ccd34c56c66 | 344 | /******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/ |