ST
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 
ST Expansion SW Team
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_class.h
- Revision:
- 3:a132aa6d66e4
- Parent:
- 2:2ba230b24f25
- Child:
- 4:265c30b9112a
--- a/Components/stspin220/stspin220_class.h Wed Jul 27 12:00:06 2016 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1200 +0,0 @@
-/**
- ******************************************************************************
- * @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_CLASS_H
-#define __STSPIN220_CLASS_H
-
-
-/* Includes ------------------------------------------------------------------*/
-
-/* ACTION 1 ------------------------------------------------------------------*
- * Include here platform specific header files. *
- *----------------------------------------------------------------------------*/
-#include "mbed.h"
-
-/* ACTION 2 ------------------------------------------------------------------*
- * Include here component specific header files. *
- *----------------------------------------------------------------------------*/
-#include "stspin220.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 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 ReadID(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 GetStatus(void)
- {
- return (unsigned int) Stspin220_GetDeviceState();
- }
-
- /**
- * @brief Getting the position.
- * @param None.
- * @retval The position.
- */
- virtual signed int GetPosition(void)
- {
- return (signed int)Stspin220_GetPosition();
- }
-
- /**
- * @brief Getting the marked position.
- * @param None.
- * @retval The marked position.
- */
- virtual signed int GetMark(void)
- {
- return (signed int)Stspin220_GetMark();
- }
-
- /**
- * @brief Getting the current speed in pps.
- * @param None.
- * @retval The current speed in pps.
- */
- virtual unsigned int GetSpeed(void)
- {
- return (unsigned int)Stspin220_GetCurrentSpeed();
- }
-
- /**
- * @brief Getting the maximum speed in pps.
- * @param None.
- * @retval The maximum speed in pps.
- */
- virtual unsigned int GetMaxSpeed(void)
- {
- return (unsigned int)Stspin220_GetMaxSpeed();
- }
-
- /**
- * @brief Getting the minimum speed in pps.
- * @param None.
- * @retval The minimum speed in pps.
- */
- virtual unsigned int GetMinSpeed(void)
- {
- return (unsigned int)Stspin220_GetMinSpeed();
- }
-
- /**
- * @brief Getting the acceleration in pps^2.
- * @param None.
- * @retval The acceleration in pps^2.
- */
- virtual unsigned int GetAcceleration(void)
- {
- return (unsigned int)Stspin220_GetAcceleration();
- }
-
- /**
- * @brief Getting the deceleration in pps^2.
- * @param None.
- * @retval The deceleration in pps^2.
- */
- virtual unsigned int GetDeceleration(void)
- {
- return (unsigned int)Stspin220_GetDeceleration();
- }
-
- /**
- * @brief Getting the direction of rotation.
- * @param None.
- * @retval The direction of rotation.
- */
- virtual direction_t GetDirection(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 SetHome(void)
- {
- Stspin220_SetHome();
- }
-
- /**
- * @brief Setting the current position to be the marked position.
- * @param None.
- * @retval None.
- */
- virtual void SetMark(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 SetMaxSpeed(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 SetMinSpeed(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 SetAcceleration(unsigned int acceleration)
- {
- if (acceleration <= 0xFFFF)
- {
- return Stspin220_SetAcceleration((uint16_t) acceleration);
- }
- else
- {
- return false;
- }
- }
-
- /**
- * @brief Setting the deceleration in pps^2.
- * @param deceleration The deceleration in pps^2.
- * @retval "true" in case of success, "false" otherwise.
- */
- virtual bool SetDeceleration(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 SetStepMode(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 GoTo(signed int position)
- {
- Stspin220_GoTo((int32_t)position);
- }
-
- /**
- * @brief Going to the home position.
- * @param None.
- * @retval None.
- */
- virtual void GoHome(void)
- {
- Stspin220_GoHome();
- }
-
- /**
- * @brief Going to the marked position.
- * @param None.
- * @retval None.
- */
- virtual void GoMark(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 SoftStop(void)
- {
- Stspin220_SoftStop();
- }
-
- /**
- * @brief Stopping the motor through an immediate infinite deceleration.
- * @param None.
- * @retval None.
- */
- virtual void HardStop(void)
- {
- Stspin220_HardStop();
- }
-
- /**
- * @brief Disabling the power bridge after performing a deceleration to zero.
- * @param None.
- * @retval None.
- */
- virtual void SoftHiZ(void)
- {
- Stspin220_SetStopMode(HIZ_MODE);
- Stspin220_SoftStop();
- }
-
- /**
- * @brief Disabling the power bridge immediately.
- * @param None.
- * @retval None.
- */
- virtual void HardHiZ(void)
- {
- Stspin220_HardHiZ();
- }
-
- /**
- * @brief Waiting while the motor is active.
- * @param None.
- * @retval None.
- */
- virtual void WaitWhileActive(void)
- {
- Stspin220_WaitWhileActive();
- }
-
- /**
- * @brief Public functions NOT inherited
- */
-
- /**
- * @brief Attaching an error handler.
- * @param fptr An error handler.
- * @retval None.
- */
- virtual void AttachErrorHandler(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 CheckStatusHw(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 ExitDeviceFromStandby(void)
- {
- Stspin220_ExitDeviceFromStandby();
- }
-
- /**
- * @brief Set the frequency of the VREFA and VREFB PWM
- * @param frequency in Hz
- * @retval None.
- */
- virtual uint32_t GetFreqVrefPwm(void)
- {
- return Stspin220_VrefPwmGetFreq();
- }
-
- /**
- * @brief Getting the version of the firmware.
- * @param None.
- * @retval The version of the firmware.
- */
- virtual unsigned int GetFwVersion(void)
- {
- return (unsigned int) Stspin220_GetFwVersion();
- }
-
- /**
- * @brief Getting the motor step mode.
- * @param None.
- * @retval The motor step mode.
- */
- virtual step_mode_t GetStepMode(void)
- {
- return (step_mode_t) Stspin220_GetStepMode();
- }
-
- /**
- * @brief Getting the motor stop mode.
- * @param None.
- * @retval The motor stop mode.
- */
- virtual motorStopMode_t GetStopMode(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 GetTorque(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 GetTorqueBoostEnable(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 GetTorqueBoostThreshold(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 GoTo(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 PutDeviceInStandby(void)
- {
- Stspin220_PutDeviceInStandby();
- }
-
- /**
- * @brief Release the STSPIN220 reset (Reset pin set to high level).
- * @param None.
- * @retval None.
- */
- virtual void ReleaseReset(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 SetDirection(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 SetFreqVrefPwm(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 SetStopMode(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 SetTorque(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 SetTorqueBoostEnable(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 SetTorqueBoostThreshold(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 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))
- {
- 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 EnableFlagIRQ(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_GetValue(float *f); //(1) *
- * Status_t COMPONENT_EnableFeature(void); //(2) *
- * Status_t COMPONENT_ComputeAverage(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_GetDeviceState(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_GetStepMode(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);
- }
-
- /**
- * @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 ***/
-
- /* 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;
-
- /* 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****/
X-NUCLEO-IHM06A1 Low Voltage Stepper Motor Driver