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.
Revision 4:265c30b9112a, committed 2017-03-24
- Comitter:
- Davidroid
- Date:
- Fri Mar 24 13:54:23 2017 +0000
- Parent:
- 3:a132aa6d66e4
- Child:
- 5:fd1315beea32
- Commit message:
- Typos corrected.
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSpin220/STSpin220.cpp Fri Mar 24 13:54:23 2017 +0000
@@ -0,0 +1,1528 @@
+/**
+ ******************************************************************************
+ * @file STSpin220.cpp
+ * @author IPC Rennes
+ * @version V1.0.0
+ * @date July 27th, 2016
+ * @brief STSpin220 product related routines
+ * @note (C) COPYRIGHT 2016 STMicroelectronics
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "STSpin220.h"
+
+/* Definitions ---------------------------------------------------------------*/
+
+/* Variables ----------------------------------------------------------------*/
+/* Number of devices. */
+uint8_t STSpin220::numberOfDevices = 0;
+
+/* Methods -------------------------------------------------------------------*/
+/******************************************************//**
+ * @brief Start the STSpin220 library
+ * @param[in] pInit pointer to the initialization data
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t STSpin220::STSpin220_Init(void* pInit)
+{
+ STSpin220_Disable();
+ if (pInit == NULL)
+ {
+ /* Set context variables to the predefined values from STSpin220_target_config.h */
+ /* Set GPIO according to these values */
+ STSpin220_SetDeviceParamsToPredefinedValues();
+ }
+ else
+ {
+ STSpin220_SetDeviceParamsToGivenValues((STSpin220_init_t*) pInit);
+ }
+ STSpin220_Board_TimStckInit(false);
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Read id
+ * @param id pointer to the identifier to be read.
+ * @retval COMPONENT_OK in case of success.
+ **********************************************************/
+status_t STSpin220::STSpin220_ReadID(uint8_t *id)
+{
+ *id = deviceInstance;
+
+ return COMPONENT_OK;
+}
+
+/**********************************************************
+ * @brief Attaches a user callback to the error Handler.
+ * The call back will be then called each time the library
+ * detects an error
+ * @param[in] callback Name of the callback to attach
+ * to the error Hanlder
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_AttachErrorHandler(void (*callback)(uint16_t error))
+{
+ errorHandlerCallback = (void (*)(uint16_t error)) callback;
+}
+
+/******************************************************//**
+ * @brief Apply the set torque
+ * @param[in] torqueMode torque mode
+ * @retval None
+ * @note
+ **********************************************************/
+void STSpin220::STSpin220_ApplyTorque(motorTorqueMode_t torqueMode)
+{
+ uint8_t torqueValue = 0;
+ devicePrm.updateTorque = false;
+ switch(torqueMode)
+ {
+ case ACC_TORQUE:
+ devicePrm.currentTorque = devicePrm.accelTorque;
+ break;
+ case DEC_TORQUE:
+ devicePrm.currentTorque = devicePrm.decelTorque;
+ break;
+ case RUN_TORQUE:
+ devicePrm.currentTorque = devicePrm.runTorque;
+ break;
+ case HOLD_TORQUE:
+ devicePrm.currentTorque = devicePrm.holdTorque;
+ break;
+ case CURRENT_TORQUE:
+ break;
+ default:
+ return; //ignore error
+ }
+ torqueValue = devicePrm.currentTorque;
+ STSpin220_Board_PwmRefSetDutyCycle(torqueValue);
+}
+
+/******************************************************//**
+ * @brief Disable the power bridges (leave the output bridges HiZ)
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_Disable(void)
+{
+ STSpin220_Board_Disable();
+}
+
+/******************************************************//**
+ * @brief Enable the power bridges
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_Enable(void)
+{
+ STSpin220_Board_Enable();
+}
+
+/******************************************************//**
+ * @brief Error handler which calls the user callback (if defined)
+ * @param[in] error Number of the error
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_ErrorHandler(uint16_t error)
+{
+ if (errorHandlerCallback != 0)
+ {
+ errorHandlerCallback(error);
+ }
+ else
+ {
+ while(1)
+ {
+ /* Infinite loop */
+ }
+ }
+}
+
+/******************************************************//**
+ * @brief Exit STSpin220 device from standby (low power consumption)
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_ExitDeviceFromStandby(void)
+{
+ uint32_t sequencerPosition = devicePrm.sequencerPosition;
+
+ /* Exit standby and set step mode */
+ STSpin220_SetStepModeWithoutReset(devicePrm.stepMode);
+
+ if (devicePrm.sequencerPosition != 0)
+ {
+ /* Set direction to FORWARD to ensure the HW sequencer is increased at */
+ /* each step clock rising edge */
+ STSpin220_SetDirection(FORWARD);
+ /* Going out of standby */
+ devicePrm.motionState = STANDBYTOINACTIVE;
+ /* Program the step clock */
+ STSpin220_Board_TimStckInit(true);
+ STSpin220_Board_TimStckSetFreq(STSPIN220_MAX_STCK_FREQ);
+ toggleOdd = 0;
+ while (devicePrm.sequencerPosition != 0);
+ while (toggleOdd!=0);
+ devicePrm.sequencerPosition = sequencerPosition;
+ }
+
+ devicePrm.motionState = INACTIVE;
+}
+
+/******************************************************//**
+ * @brief Return the acceleration
+ * @retval Acceleration in pps^2
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetAcceleration(void)
+{
+ return (devicePrm.acceleration);
+}
+
+/******************************************************//**
+ * @brief Return the current speed
+ * @retval Speed in pps
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetCurrentSpeed(void)
+{
+ return devicePrm.speed;
+}
+
+/******************************************************//**
+ * @brief Return the deceleration
+ * @retval Deceleration in pps^2
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetDeceleration(void)
+{
+ return (devicePrm.deceleration);
+}
+
+/******************************************************//**
+ * @brief Return the device state
+ * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
+ **********************************************************/
+motorState_t STSpin220::STSpin220_get_device_state(void)
+{
+ return devicePrm.motionState;
+}
+
+/******************************************************//**
+ * @brief Get the motor current direction
+ * @retval direction
+ **********************************************************/
+motorDir_t STSpin220::STSpin220_GetDirection(void)
+{
+ return devicePrm.direction;
+}
+
+/******************************************************//**
+ * @brief Return the FW version.
+ * @retval FW version
+ **********************************************************/
+uint32_t STSpin220::STSpin220_GetFwVersion(void)
+{
+ return (STSPIN220_FW_VERSION);
+}
+
+/******************************************************//**
+ * @brief Get the mark position (32b signed)
+ * @retval mark position
+ **********************************************************/
+int32_t STSpin220::STSpin220_GetMark(void)
+{
+ return devicePrm.markPosition;
+}
+
+/******************************************************//**
+ * @brief Return the max speed
+ * @retval maxSpeed in pps
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetMaxSpeed(void)
+{
+ return (devicePrm.maxSpeed);
+}
+
+/******************************************************//**
+ * @brief Get the min speed
+ * in step/s for full, half and wave modes
+ * in microsteps/s for microstep modes
+ * @retval return the min speed in step/s or microstep/s
+ * @note
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetMinSpeed(void)
+{
+ return (devicePrm.minSpeed);
+}
+
+/******************************************************//**
+ * @brief Get the current position (32b signed)
+ * @retval current position value
+ **********************************************************/
+int32_t STSpin220::STSpin220_GetPosition(void)
+{
+ return devicePrm.currentPosition;
+}
+
+/******************************************************//**
+ * @brief Get the motor step mode
+ * @retval step mode
+ **********************************************************/
+motorStepMode_t STSpin220::STSpin220_GetStepMode(void)
+{
+ return devicePrm.stepMode;
+}
+
+/******************************************************//**
+ * @brief Get the selected stop mode
+ * @retval the selected stop mode
+ **********************************************************/
+motorStopMode_t STSpin220::STSpin220_GetStopMode(void)
+{
+ return devicePrm.stopMode;
+}
+
+/******************************************************//**
+ * @brief Get the torque
+ * @param[in] torqueMode torque mode
+ * @retval the torqueValue in % (from 0 to 100)
+ * @note
+ **********************************************************/
+uint8_t STSpin220::STSpin220_GetTorque(motorTorqueMode_t torqueMode)
+{
+ uint8_t torqueValue = 0;
+ switch(torqueMode)
+ {
+ case ACC_TORQUE:
+ torqueValue = devicePrm.accelTorque;
+ break;
+ case DEC_TORQUE:
+ torqueValue = devicePrm.decelTorque;
+ break;
+ case RUN_TORQUE:
+ torqueValue = devicePrm.runTorque;
+ break;
+ case HOLD_TORQUE:
+ torqueValue = devicePrm.holdTorque;
+ break;
+ case CURRENT_TORQUE:
+ torqueValue = devicePrm.currentTorque;
+ break;
+ default:
+ break;
+ }
+ return torqueValue;
+}
+
+/******************************************************//**
+ * @brief Get the torque boost feature status
+ * @retval TRUE if enabled, FALSE if disabled
+ **********************************************************/
+bool STSpin220::STSpin220_GetTorqueBoostEnable(void)
+{
+ return devicePrm.torqueBoostEnable;
+}
+
+/******************************************************//**
+ * @brief Get the torque boost threshold
+ * @retval The torque boost threshold above which the step mode is
+ * changed to full step
+ **********************************************************/
+uint16_t STSpin220::STSpin220_GetTorqueBoostThreshold(void)
+{
+ return devicePrm.torqueBoostSpeedThreshold;
+}
+
+/******************************************************//**
+ * @brief Go to the home position
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_GoHome(void)
+{
+ STSpin220_GoTo(0);
+}
+
+/******************************************************//**
+ * @brief Go to the Mark position
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_GoMark(void)
+{
+ STSpin220_GoTo(devicePrm.markPosition);
+}
+
+/******************************************************//**
+ * @brief Request the motor to move to the specified position
+ * @param[in] targetPosition absolute position in steps
+ * @retval None
+ * @note The position is at the resolution corresponding to the
+ * selected step mode.
+ * STEP_MODE_FULL : step
+ * STEP_MODE_HALF : 1/2 step
+ * STEP_MODE_1_4 : 1/4 step
+ * STEP_MODE_1_8 : 1/8 step
+ * STEP_MODE_1_16 : 1/16 step
+ * STEP_MODE_1_32 : 1/32 step
+ * STEP_MODE_1_64 : 1/64 step
+ * STEP_MODE_1_128 : 1/128 step
+ * STEP_MODE_1_256 : 1/256 step
+ **********************************************************/
+void STSpin220::STSpin220_GoTo(int32_t targetPosition)
+{
+ motorDir_t direction;
+
+ /* Exit from standby if needed */
+ if (devicePrm.motionState == STANDBY)
+ {
+ STSpin220_ExitDeviceFromStandby();
+ }
+ /* Deactivate motor if needed */
+ else if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
+
+ if (targetPosition > devicePrm.currentPosition)
+ {
+ devicePrm.stepsToTake = targetPosition -\
+ devicePrm.currentPosition;
+ if (devicePrm.stepsToTake < (STSPIN220_POSITION_RANGE>>1))
+ {
+ direction = FORWARD;
+ }
+ else
+ {
+ direction = BACKWARD;
+ devicePrm.stepsToTake = STSPIN220_POSITION_RANGE -\
+ devicePrm.stepsToTake;
+ }
+ }
+ else
+ {
+ devicePrm.stepsToTake = devicePrm.currentPosition -\
+ targetPosition;
+ if (devicePrm.stepsToTake < (STSPIN220_POSITION_RANGE>>1))
+ {
+ direction = BACKWARD;
+ }
+ else
+ {
+ direction = FORWARD;
+ devicePrm.stepsToTake = STSPIN220_POSITION_RANGE -\
+ devicePrm.stepsToTake;
+ }
+ }
+
+ if (devicePrm.stepsToTake != 0)
+ {
+ devicePrm.commandExecuted = MOVE_CMD;
+
+ /* Direction setup */
+ STSpin220_SetDirection(direction);
+
+ STSpin220_ComputeSpeedProfile(devicePrm.stepsToTake);
+
+ /* Motor activation */
+ STSpin220_StartMovement();
+ }
+}
+
+/******************************************************//**
+ * @brief move the motor to the absolute position
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] targetPosition 32 bit signed value position
+ * @retval None
+ * @note The position is at the resolution corresponding to the
+ * selected step mode.
+ * STEP_MODE_FULL : step
+ * STEP_MODE_HALF : 1/2 step
+ * STEP_MODE_1_4 : 1/4 step
+ * STEP_MODE_1_8 : 1/8 step
+ * STEP_MODE_1_16 : 1/16 step
+ * STEP_MODE_1_32 : 1/32 step
+ * STEP_MODE_1_64 : 1/64 step
+ * STEP_MODE_1_128 : 1/128 step
+ * STEP_MODE_1_256 : 1/256 step
+ **********************************************************/
+void STSpin220::STSpin220_GoToDir(motorDir_t direction, int32_t targetPosition)
+{
+ /* Exit from standby if needed */
+ if (devicePrm.motionState == STANDBY)
+ {
+ STSpin220_ExitDeviceFromStandby();
+ }
+ /* Deactivate motor if needed */
+ else if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
+
+ if (direction != BACKWARD)
+ {
+ if (targetPosition > devicePrm.currentPosition)
+ {
+ devicePrm.stepsToTake = targetPosition -\
+ devicePrm.currentPosition;
+ }
+ else
+ {
+ devicePrm.stepsToTake = STSPIN220_POSITION_RANGE +\
+ (targetPosition -\
+ devicePrm.currentPosition);
+ }
+ }
+ else
+ {
+ if (targetPosition > devicePrm.currentPosition)
+ {
+ devicePrm.stepsToTake = STSPIN220_POSITION_RANGE +\
+ (devicePrm.currentPosition -\
+ targetPosition);
+ }
+ else
+ {
+ devicePrm.stepsToTake = devicePrm.currentPosition -\
+ targetPosition;
+ }
+ }
+
+ if (devicePrm.stepsToTake != 0)
+ {
+ devicePrm.commandExecuted = MOVE_CMD;
+
+ /* Direction setup */
+ STSpin220_SetDirection(direction);
+
+ STSpin220_ComputeSpeedProfile(devicePrm.stepsToTake);
+
+ /* Motor activation */
+ STSpin220_StartMovement();
+ }
+}
+
+/******************************************************//**
+ * @brief Immediately stop the motor and disables the power bridges
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_HardHiZ(void)
+{
+ /* Set inactive state */
+ devicePrm.motionState = INACTIVE;
+
+ /* Disable step clock */
+ if (STSpin220_Board_TimStckStop(&toggleOdd) == 0)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
+ }
+
+ /* Let the PWM REF and bridges enabled at least for DISABLE_DELAY time */
+ /* after the last step clock rising edge triggering the last step */
+ STSpin220_Board_Delay(DISABLE_DELAY);
+
+ /* Set reference voltage to 0 */
+ STSpin220_SetTorque(CURRENT_TORQUE, 0);
+
+ /* Disable power bridges */
+ STSpin220_Board_Disable();
+
+ /* Comeback to nominal step mode */
+ if (devicePrm.stepModeLatched != devicePrm.stepMode)
+ {
+ STSpin220_Board_UnsetFullStep();
+ devicePrm.stepMode = devicePrm.stepModeLatched;
+ }
+
+ devicePrm.commandExecuted = NO_CMD;
+ devicePrm.stepsToTake = 0;
+ devicePrm.speed = 0;
+}
+
+/******************************************************//**
+ * @brief Immediatly stop the motor
+ * and either set holding torque when stop mode is HOLD_MODE,
+ * or call STSpin220_HardHiz function when stop mode is HIZ_MODE,
+ * or call STSpin220_PutDeviceInStandby function when stop mode is STANDBY_MODE
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_HardStop(void)
+{
+ if (devicePrm.stopMode == HOLD_MODE)
+ {
+ /* Set inactive state */
+ devicePrm.motionState = INACTIVE;
+
+ /* Disable step clock */
+ if (STSpin220_Board_TimStckStop(&toggleOdd) == 0)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
+ }
+
+ /* Set holding torque */
+ STSpin220_ApplyTorque(HOLD_TORQUE);
+
+ /* Comeback to nominal step mode */
+ if (devicePrm.stepModeLatched != devicePrm.stepMode)
+ {
+ STSpin220_Board_UnsetFullStep();
+ devicePrm.stepMode = devicePrm.stepModeLatched;
+ }
+
+ devicePrm.commandExecuted = NO_CMD;
+ devicePrm.stepsToTake = 0;
+ devicePrm.speed = 0;
+ }
+ else if (devicePrm.stopMode == HIZ_MODE)
+ {
+ STSpin220_HardHiZ();
+ }
+ else if (devicePrm.stopMode == STANDBY_MODE)
+ {
+ STSpin220_PutDeviceInStandby();
+ }
+}
+
+/******************************************************//**
+ * @brief Moves the motor of the specified number of steps
+ * @param[in] direction FORWARD or BACKWARD
+ * @param[in] stepCount Number of steps to perform
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_Move(motorDir_t direction, uint32_t stepCount)
+{
+ /* Exit from standby if needed */
+ if (devicePrm.motionState == STANDBY)
+ {
+ STSpin220_ExitDeviceFromStandby();
+ }
+ /* Deactivate motor if needed */
+ else if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
+
+ if (stepCount != 0)
+ {
+ devicePrm.stepsToTake = stepCount;
+ devicePrm.commandExecuted = MOVE_CMD;
+
+ /* Direction setup */
+ STSpin220_SetDirection(direction);
+
+ STSpin220_ComputeSpeedProfile(stepCount);
+
+ /* Motor activation */
+ STSpin220_StartMovement();
+ }
+}
+
+/******************************************************//**
+ * @brief Put STSpin220 device in standby (low power consumption)
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_PutDeviceInStandby(void)
+{
+ /* Stop movement */
+ STSpin220_HardHiZ();
+
+ /* Enter standby */
+ STSpin220_Board_Reset();
+
+ devicePrm.motionState = STANDBY;
+}
+
+/******************************************************//**
+ * @brief Runs the motor. It will accelerate from the min
+ * speed up to the max speed by using the device acceleration.
+ * @param[in] direction FORWARD or BACKWARD
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_Run(motorDir_t direction)
+{
+ /* Exit from standby if needed */
+ if (devicePrm.motionState == STANDBY)
+ {
+ STSpin220_ExitDeviceFromStandby();
+ }
+ /* Deactivate motor if needed */
+ else if (devicePrm.motionState != INACTIVE)
+ {
+ STSpin220_HardHiZ();
+ }
+
+ /* Direction setup */
+ STSpin220_SetDirection(direction);
+ devicePrm.commandExecuted = RUN_CMD;
+ /* Motor activation */
+ STSpin220_StartMovement();
+}
+
+/******************************************************//**
+ * @brief Changes the acceleration
+ * @param[in] newAcc New acceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed if the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool STSpin220::STSpin220_SetAcceleration(uint16_t newAcc)
+{
+ bool cmdExecuted = false;
+ if ((newAcc != 0)&&
+ (((devicePrm.motionState & INACTIVE) == INACTIVE)||
+ (devicePrm.commandExecuted == RUN_CMD)))
+ {
+ devicePrm.acceleration = newAcc;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the deceleration
+ * @param[in] newDec New deceleration to apply in pps^2
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed if the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command)
+ **********************************************************/
+bool STSpin220::STSpin220_SetDeceleration(uint16_t newDec)
+{
+ bool cmdExecuted = false;
+ if ((newDec != 0)&&
+ (((devicePrm.motionState & INACTIVE) == INACTIVE)||
+ (devicePrm.commandExecuted == RUN_CMD)))
+ {
+ devicePrm.deceleration = newDec;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Specifies the direction
+ * @param[in] dir FORWARD or BACKWARD
+ * @note The direction change is applied if the device
+ * is in INACTIVE or STANDBY state or if the device is
+ * executing a run command
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetDirection(motorDir_t dir)
+{
+ if ((devicePrm.motionState == INACTIVE)||\
+ (devicePrm.motionState == STANDBY))
+ {
+ devicePrm.direction = dir;
+ STSpin220_Board_SetDirectionGpio(dir);
+ }
+ else if ((devicePrm.commandExecuted&RUN_CMD)!=0)
+ {
+ devicePrm.commandExecuted=(deviceCommand_t)
+ (STSPIN220_DIR_CHANGE_BIT_MASK|devicePrm.commandExecuted);
+ }
+}
+
+/******************************************************//**
+ * @brief Set current position to be the Home position
+ * (current position set to 0)
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetHome(void)
+{
+ devicePrm.currentPosition = 0;
+}
+
+/******************************************************//**
+ * @brief Set current position to be the Mark position
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetMark(void)
+{
+ devicePrm.markPosition = devicePrm.currentPosition;
+}
+
+/******************************************************//**
+ * @brief Changes the max speed
+ * @param[in] newMaxSpeed New max speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool STSpin220::STSpin220_SetMaxSpeed(uint16_t newMaxSpeed)
+{
+ bool cmdExecuted = false;
+ if ((newMaxSpeed >= STSPIN220_MIN_STCK_FREQ)&&\
+ ((newMaxSpeed <= STSPIN220_MAX_STCK_FREQ)||\
+ ((devicePrm.torqueBoostEnable != false)&&\
+ ((newMaxSpeed>>STSpin220_GetStepMode())<= STSPIN220_MAX_STCK_FREQ)))&&\
+ (devicePrm.minSpeed <= newMaxSpeed) &&\
+ (((devicePrm.motionState & INACTIVE) == INACTIVE)||\
+ (devicePrm.commandExecuted == RUN_CMD)))
+ {
+ devicePrm.maxSpeed = newMaxSpeed;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Changes the min speed
+ * @param[in] newMinSpeed New min speed to apply in pps
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed is the device is executing
+ * a MOVE or GOTO command (but it can be used during a RUN command).
+ **********************************************************/
+bool STSpin220::STSpin220_SetMinSpeed(uint16_t newMinSpeed)
+{
+ bool cmdExecuted = false;
+ if ((newMinSpeed >= STSPIN220_MIN_STCK_FREQ)&&
+ (newMinSpeed <= STSPIN220_MAX_STCK_FREQ) &&
+ (newMinSpeed <= devicePrm.maxSpeed) &&
+ (((devicePrm.motionState & INACTIVE) == INACTIVE)||
+ (devicePrm.commandExecuted == RUN_CMD)))
+ {
+ devicePrm.minSpeed = newMinSpeed;
+ cmdExecuted = true;
+ }
+ return cmdExecuted;
+}
+
+/******************************************************//**
+ * @brief Set the stepping mode
+ * @param[in] stepMode from full step to 1/256 microstep
+ * as specified in enum motorStepMode_t
+ * @retval true if the command is successfully executed, else false
+ **********************************************************/
+bool STSpin220::STSpin220_SetStepMode(motorStepMode_t stepMode)
+{
+ /* Eventually deactivate motor */
+ if ((devicePrm.motionState != INACTIVE)&&\
+ (devicePrm.motionState != STANDBY))
+ {
+ STSpin220_HardHiZ();
+ }
+
+ /* Enter standby */
+ STSpin220_Board_Reset();
+
+ /* Reset the microstepping sequencer position */
+ devicePrm.sequencerPosition = 0;
+
+ /* Reset current and mark positions */
+ devicePrm.currentPosition = 0;
+ devicePrm.markPosition = 0;
+
+ /* Set the step mode */
+ return (STSpin220_SetStepModeWithoutReset(stepMode));
+}
+
+/******************************************************//**
+ * @brief Select the mode to stop the motor.
+ * @param[in] stopMode HOLD_MODE to let power bridge enabled
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetStopMode(motorStopMode_t stopMode)
+{
+ devicePrm.stopMode = stopMode;
+}
+
+/******************************************************//**
+ * @brief Set the torque
+ * @param[in] torqueMode Torque mode as specified in enum motorTorqueMode_t
+ * @param[in] torqueValue in % (from 0 to 100)
+ * @retval None
+ * @note
+ **********************************************************/
+void STSpin220::STSpin220_SetTorque(motorTorqueMode_t torqueMode, uint8_t torqueValue)
+{
+ devicePrm.updateTorque = true;
+ if (torqueValue>100) torqueValue = 100;
+ switch(torqueMode)
+ {
+ case ACC_TORQUE:
+ devicePrm.accelTorque = torqueValue;
+ break;
+ case DEC_TORQUE:
+ devicePrm.decelTorque = torqueValue;
+ break;
+ case RUN_TORQUE:
+ devicePrm.runTorque = torqueValue;
+ break;
+ case HOLD_TORQUE:
+ devicePrm.holdTorque = torqueValue;
+ if (devicePrm.motionState != INACTIVE)
+ {
+ break;
+ }
+ case CURRENT_TORQUE:
+ devicePrm.currentTorque = torqueValue;
+ STSpin220_Board_PwmRefSetDutyCycle(torqueValue);
+ default:
+ devicePrm.updateTorque = false;
+ break; //ignore error
+ }
+}
+
+/******************************************************//**
+ * @brief Enable or disable the torque boost feature
+ * @param[in] enable true to enable torque boost, false to disable
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetTorqueBoostEnable(bool enable)
+{
+ devicePrm.torqueBoostEnable = enable;
+}
+
+/******************************************************//**
+ * @brief Set the torque boost threshold
+ * @param[in] speedThreshold speed threshold above which the step mode is
+ * changed to full step
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetTorqueBoostThreshold(uint16_t speedThreshold)
+{
+ devicePrm.torqueBoostSpeedThreshold = speedThreshold;
+}
+
+/******************************************************//**
+ * @brief Stops the motor by using the device deceleration
+ * @retval true if the command is successfully executed, else false
+ * @note The command is not performed if the device is in INACTIVE,
+ * STANDBYTOINACTIVE or STANDBY state.
+ **********************************************************/
+bool STSpin220::STSpin220_SoftStop(void)
+{
+ bool cmdExecuted = false;
+ if ((devicePrm.motionState & INACTIVE) != INACTIVE)
+ {
+ devicePrm.commandExecuted=(deviceCommand_t)
+ (STSPIN220_SOFT_STOP_BIT_MASK|devicePrm.commandExecuted);
+ cmdExecuted = true;
+ }
+ return (cmdExecuted);
+}
+
+/******************************************************//**
+ * @brief Get the frequency of REF PWM
+ * @retval the frequency of REF PWM in Hz
+ * @note
+ **********************************************************/
+uint32_t STSpin220::STSpin220_VrefPwmGetFreq(void)
+{
+ return devicePrm.refPwmFreq;
+}
+
+/******************************************************//**
+ * @brief Set the frequency of REF PWM
+ * @param[in] newFreq in Hz
+ * @retval None
+ * @note
+ **********************************************************/
+void STSpin220::STSpin220_VrefPwmSetFreq(uint32_t newFreq)
+{
+ devicePrm.refPwmFreq = newFreq;
+ STSpin220_Board_PwmRefSetFreq(newFreq);
+}
+
+/******************************************************//**
+ * @brief Locks until the device state becomes Inactive
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_WaitWhileActive(void)
+{
+ /* Wait while motor is running */
+ while (((STSpin220_get_device_state()&INACTIVE)!=INACTIVE)||\
+ (((STSpin220_get_device_state()&INACTIVE)==INACTIVE)&&(toggleOdd!=0)));
+}
+
+/* ------------------------------------------------------------------------- */
+/* Internal functions ------------------------------------------------------ */
+/* ------------------------------------------------------------------------- */
+/******************************************************//**
+ * @brief Updates the current speed of the device
+ * @param[in] newSpeed in pps
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_ApplySpeed(uint16_t newSpeed)
+{
+ if (devicePrm.torqueBoostEnable != false)
+ {
+ if (devicePrm.stepMode > (motorStepMode_t)STEP_MODE_1_256)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_APPLY_SPEED);
+ }
+ if (devicePrm.stepMode != (motorStepMode_t)STEP_MODE_FULL)
+ {
+ if (((newSpeed>>devicePrm.stepModeLatched)>\
+ devicePrm.torqueBoostSpeedThreshold)&&\
+ (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) != MOVE_CMD) ||\
+ ((devicePrm.stepsToTake-devicePrm.relativePos)>=\
+ (1<<devicePrm.stepModeLatched))))
+ {
+ if ((devicePrm.sequencerPosition & 0xFF) == 0X80)
+ {
+ STSpin220_Board_SetFullStep();
+ devicePrm.stepMode = (motorStepMode_t)STEP_MODE_FULL;
+ devicePrm.accu >>= devicePrm.stepModeLatched;
+ newSpeed >>= devicePrm.stepModeLatched;
+ }
+ }
+ }
+ else if (((newSpeed <= devicePrm.torqueBoostSpeedThreshold) &&\
+ (devicePrm.stepModeLatched != (motorStepMode_t)STEP_MODE_FULL))||\
+ (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) == MOVE_CMD)&&\
+ ((devicePrm.stepsToTake-devicePrm.relativePos)<=\
+ (1<<devicePrm.stepModeLatched))))
+ {
+ STSpin220_Board_UnsetFullStep();
+ devicePrm.stepMode = devicePrm.stepModeLatched;
+ devicePrm.accu <<= devicePrm.stepModeLatched;
+ newSpeed <<= devicePrm.stepModeLatched;
+ }
+ }
+ else if (devicePrm.stepMode != devicePrm.stepModeLatched)
+ {
+ //torqueBoostEnable has just been disabled
+ STSpin220_Board_UnsetFullStep();
+ devicePrm.stepMode = devicePrm.stepModeLatched;
+ devicePrm.accu <<= devicePrm.stepModeLatched;
+ newSpeed <<= devicePrm.stepModeLatched;
+ }
+
+ if (newSpeed < STSPIN220_MIN_STCK_FREQ)
+ {
+ newSpeed = STSPIN220_MIN_STCK_FREQ;
+ }
+ if (newSpeed > STSPIN220_MAX_STCK_FREQ)
+ {
+ newSpeed = STSPIN220_MAX_STCK_FREQ;
+ }
+
+ devicePrm.speed = newSpeed;
+ STSpin220_Board_TimStckSetFreq(newSpeed);
+
+}
+
+/******************************************************//**
+ * @brief Computes the speed profile according to the number of steps to move
+ * @param[in] nbSteps number of steps to perform
+ * @retval None
+ * @note Using the acceleration and deceleration of the device,
+ * this function determines the duration in steps of the acceleration,
+ * steady and deceleration phases.
+ * If the total number of steps to perform is big enough, a trapezoidal move
+ * is performed (i.e. there is a steady phase where the motor runs at the maximum
+ * speed.
+ * Else, a triangular move is performed (no steady phase: the maximum speed is never
+ * reached.
+ **********************************************************/
+void STSpin220::STSpin220_ComputeSpeedProfile(uint32_t nbSteps)
+{
+ uint32_t reqAccSteps;
+ uint32_t reqDecSteps;
+
+ /* compute the number of steps to get the targeted speed */
+ uint16_t minSpeed = devicePrm.minSpeed;
+ reqAccSteps = (devicePrm.maxSpeed - minSpeed);
+ reqAccSteps *= (devicePrm.maxSpeed + minSpeed);
+ reqDecSteps = reqAccSteps;
+ reqAccSteps /= (uint32_t)devicePrm.acceleration;
+ reqAccSteps /= 2;
+
+ /* compute the number of steps to stop */
+ reqDecSteps /= (uint32_t)devicePrm.deceleration;
+ reqDecSteps /= 2;
+
+ if(( reqAccSteps + reqDecSteps ) > nbSteps)
+ {
+ /* Triangular move */
+ /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
+ uint32_t dec = devicePrm.deceleration;
+ uint32_t acc = devicePrm.acceleration;
+
+ reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
+ if (reqDecSteps > 1)
+ {
+ reqAccSteps = reqDecSteps - 1;
+ if(reqAccSteps == 0)
+ {
+ reqAccSteps = 1;
+ }
+ }
+ else
+ {
+ reqAccSteps = 0;
+ }
+ devicePrm.endAccPos = reqAccSteps;
+ devicePrm.startDecPos = reqDecSteps;
+ }
+ else
+ {
+ /* Trapezoidal move */
+ /* accelerating phase to endAccPos */
+ /* steady phase from endAccPos to startDecPos */
+ /* decelerating from startDecPos to stepsToTake*/
+ devicePrm.endAccPos = reqAccSteps;
+ devicePrm.startDecPos = nbSteps - reqDecSteps - 1;
+ }
+}
+
+/******************************************************//**
+ * @brief Set the parameters of the device whose values are not defined in
+ * stspin220_target_config.h
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetDeviceParamsOtherValues(void)
+{
+ uint16_t tmp;
+
+ devicePrm.accu = 0;
+ devicePrm.currentPosition = 0;
+ devicePrm.sequencerPosition = 0;
+ devicePrm.endAccPos = 0;
+ devicePrm.relativePos = 0;
+ devicePrm.startDecPos = 0;
+ devicePrm.stepsToTake = 0;
+ devicePrm.updateTorque = false;
+ devicePrm.speed = 0;
+ devicePrm.commandExecuted = NO_CMD;
+ devicePrm.direction = FORWARD;
+ tmp = devicePrm.minSpeed;
+ if (((devicePrm.torqueBoostEnable != false)&&\
+ (devicePrm.torqueBoostSpeedThreshold>STSPIN220_MAX_STCK_FREQ))||\
+ (tmp>devicePrm.maxSpeed))
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_INIT);
+ }
+}
+
+/******************************************************//**
+ * @brief Set the parameters of the device to values of the structure pointed
+ * by pInitDevicePrm. Set GPIO according to these values.
+ * @param pInitDevicePrm pointer onto the structure containing values to
+ * initialize the device parameters.
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetDeviceParamsToGivenValues(STSpin220_init_t* pInitDevicePrm)
+{
+ devicePrm.motionState = STANDBY;
+
+ if (STSpin220_SetAcceleration(pInitDevicePrm->acceleration)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
+ if (STSpin220_SetDeceleration(pInitDevicePrm->deceleration)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
+ if (STSpin220_SetMaxSpeed(pInitDevicePrm->maxSpeed)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
+ if (STSpin220_SetMinSpeed(pInitDevicePrm->minSpeed)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+
+ STSpin220_VrefPwmSetFreq(pInitDevicePrm->vrefPwmFreq);
+ STSpin220_SetTorque(ACC_TORQUE,pInitDevicePrm->accelTorque);
+ STSpin220_SetTorque(DEC_TORQUE,pInitDevicePrm->decelTorque);
+ STSpin220_SetTorque(RUN_TORQUE,pInitDevicePrm->runTorque);
+ STSpin220_SetTorque(HOLD_TORQUE,pInitDevicePrm->holdTorque);
+ devicePrm.torqueBoostEnable = pInitDevicePrm->torqueBoostEnable;
+ devicePrm.torqueBoostSpeedThreshold = pInitDevicePrm->torqueBoostSpeedThreshold;
+ STSpin220_SetStopMode(pInitDevicePrm->stopMode);
+
+ STSpin220_SetDeviceParamsOtherValues();
+
+ /* Set predefined step mode */
+ /* Standby-reset deactivation included to latch the MODEX inputs */
+ STSpin220_SetStepMode(pInitDevicePrm->stepMode);
+}
+
+/******************************************************//**
+ * @brief Sets the parameters of the device to predefined values
+ * from stspin220_target_config.h
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_SetDeviceParamsToPredefinedValues(void)
+{
+ devicePrm.motionState = STANDBY;
+
+ if (STSpin220_SetAcceleration(STSPIN220_CONF_PARAM_ACC)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
+ if (STSpin220_SetDeceleration(STSPIN220_CONF_PARAM_DEC)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
+ if (STSpin220_SetMaxSpeed(STSPIN220_CONF_PARAM_RUNNING_SPEED)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
+ if (STSpin220_SetMinSpeed(STSPIN220_CONF_PARAM_MIN_SPEED)==false) STSpin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
+
+ STSpin220_VrefPwmSetFreq(STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY);
+ STSpin220_SetTorque(ACC_TORQUE,STSPIN220_CONF_PARAM_ACC_TORQUE);
+ STSpin220_SetTorque(DEC_TORQUE,STSPIN220_CONF_PARAM_DEC_TORQUE);
+ STSpin220_SetTorque(RUN_TORQUE,STSPIN220_CONF_PARAM_RUNNING_TORQUE);
+ STSpin220_SetTorque(HOLD_TORQUE,STSPIN220_CONF_PARAM_HOLDING_TORQUE);
+ devicePrm.torqueBoostEnable = STSPIN220_CONF_PARAM_TORQUE_BOOST_EN;
+ devicePrm.torqueBoostSpeedThreshold = STSPIN220_CONF_PARAM_TORQUE_BOOST_TH;
+ STSpin220_SetStopMode(STSPIN220_CONF_PARAM_AUTO_HIZ_STOP);
+
+ STSpin220_SetDeviceParamsOtherValues();
+
+ /* Set predefined step mode */
+ /* Standby-reset deactivation included to latch the MODEX inputs */
+ STSpin220_SetStepMode((motorStepMode_t)STSPIN220_CONF_PARAM_STEP_MODE);
+}
+
+/******************************************************//**
+ * @brief Set the stepping mode without reset
+ * @param[in] stepMode from full step to 1/256 microstep
+ * as specified in enum motorStepMode_t
+ * @retval true if the command is successfully executed, else false
+ **********************************************************/
+bool STSpin220::STSpin220_SetStepModeWithoutReset(motorStepMode_t stepMode)
+{
+ /* Store step mode */
+ devicePrm.stepMode = stepMode;
+ devicePrm.stepModeLatched = stepMode;
+
+ /* Set the mode pins to the levels corresponding to the selected step mode */
+ switch (stepMode)
+ {
+ case STEP_MODE_FULL:
+ STSpin220_Board_SetFullStep();
+ break;
+ case STEP_MODE_HALF:
+ STSpin220_Board_SetModePins(1, 0, 1, 0);
+ break;
+ case STEP_MODE_1_4:
+ STSpin220_Board_SetModePins(0, 1, 0, 1);
+ break;
+ case STEP_MODE_1_8:
+ STSpin220_Board_SetModePins(1, 1, 1, 0);
+ break;
+ case STEP_MODE_1_16:
+ STSpin220_Board_SetModePins(1, 1, 1, 1);
+ break;
+ case STEP_MODE_1_32:
+ STSpin220_Board_SetModePins(0, 0, 0, 1);
+ break;
+ case STEP_MODE_1_64:
+ STSpin220_Board_SetModePins(1, 1, 0, 1);
+ break;
+ case STEP_MODE_1_128:
+ STSpin220_Board_SetModePins(0, 0, 1, 0);
+ break;
+ case STEP_MODE_1_256:
+ STSpin220_Board_SetModePins(1, 1, 0, 0);
+ break;
+ default:
+ return false;
+ }
+
+ /* Wait */
+ STSpin220_Board_Delay(SELECT_STEP_MODE_DELAY);
+
+ /* Exit standby, selected step mode is latched */
+ STSpin220_Board_ReleaseReset();
+
+ /* Let a delay after reset release and step mode latching*/
+ STSpin220_Board_Delay(AFTER_STANDBY_EXIT_DEAD_TIME);
+
+ /* If full step mode is not selected, do not keep MODE1 = MODE2 = 0 */
+ /* after the device quit the standby condition */
+ if (stepMode!=(motorStepMode_t)STEP_MODE_FULL)
+ {
+ STSpin220_Board_UnsetFullStep();
+ }
+
+ return true;
+}
+
+/******************************************************//**
+ * @brief Initialises the bridge parameters to start the movement
+ * and enable the power bridge
+ * @retval None
+ **********************************************************/
+void STSpin220::STSpin220_StartMovement(void)
+{
+ /* Enable STSpin220 powerstage */
+ STSpin220_Enable();
+ toggleOdd = 0;
+ devicePrm.accu = 0;
+ devicePrm.relativePos = 0;
+ STSpin220_Board_TimStckInit(true);
+ if ((devicePrm.endAccPos == 0)&&\
+ (devicePrm.commandExecuted != RUN_CMD))
+ {
+ devicePrm.motionState = DECELERATING;
+ STSpin220_Board_PwmRefStart(devicePrm.refPwmFreq, DEC_TORQUE);
+ }
+ else
+ {
+ devicePrm.motionState = ACCELERATING;
+ STSpin220_Board_PwmRefStart(devicePrm.refPwmFreq, ACC_TORQUE);
+ }
+ /* Program the step clock */
+ STSpin220_ApplySpeed(devicePrm.minSpeed);
+}
+
+/******************************************************//**
+ * @brief Handles the device state machine at each pulse
+ * @retval None
+ * @note Must only be called by the timer ISR
+ **********************************************************/
+void STSpin220::STSpin220_StepClockHandler(void)
+{
+ uint32_t stepModeShift = devicePrm.stepModeLatched - devicePrm.stepMode;
+ uint16_t tmp;
+ STSpin220_Board_Monitor_Set();
+ if (devicePrm.motionState == STANDBYTOINACTIVE)
+ {
+ if (toggleOdd != 0)
+ {
+ STSpin220_Board_StckMode3_Reset();
+ toggleOdd = 0;
+ if (devicePrm.sequencerPosition == 0)
+ {
+ if (STSpin220_Board_TimStckStop(&toggleOdd) == 0)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
+ }
+ return;
+ }
+ }
+ else
+ {
+ STSpin220_Board_StckMode3_Set();
+ toggleOdd = 1;
+ tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
+ devicePrm.sequencerPosition -= tmp;
+ }
+ STSpin220_Board_TimStckSetFreq(STSPIN220_MAX_STCK_FREQ);
+ return;
+ }
+
+ if (toggleOdd == 0)
+ {
+ STSpin220_Board_StckMode3_Set();
+ toggleOdd = 1;
+ }
+ else
+ {
+ STSpin220_Board_StckMode3_Reset();
+ toggleOdd = 0;
+ /* Incrementation of the relative position */
+ devicePrm.relativePos += (1 << stepModeShift);
+
+ /* Incrementation of the current position */
+ if (devicePrm.direction != BACKWARD)
+ {
+ devicePrm.currentPosition += (1 << stepModeShift);
+ tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
+ devicePrm.sequencerPosition += tmp;
+ if (devicePrm.sequencerPosition >= (SEQUENCER_MAX_VALUE+1))
+ {
+ devicePrm.sequencerPosition -= (SEQUENCER_MAX_VALUE+1);
+ }
+ }
+ else
+ {
+ devicePrm.currentPosition -= (1 << stepModeShift);
+ tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
+ devicePrm.sequencerPosition -= tmp;
+ if (devicePrm.sequencerPosition < 0)
+ {
+ devicePrm.sequencerPosition += (SEQUENCER_MAX_VALUE+1);
+ }
+ }
+
+ switch (devicePrm.motionState)
+ {
+ case ACCELERATING:
+ {
+ uint32_t relPos = devicePrm.relativePos;
+ uint32_t endAccPos = devicePrm.endAccPos;
+ uint16_t speed = devicePrm.speed;
+ uint32_t acc = ((uint32_t)devicePrm.acceleration << 16)>>stepModeShift;
+
+ if (((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)||\
+ ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos>=devicePrm.startDecPos)))
+ {
+ devicePrm.motionState = DECELERATING;
+ devicePrm.accu = 0;
+ /* Apply decelerating torque */
+ STSpin220_ApplyTorque(DEC_TORQUE);
+ }
+ else if ((speed>=(devicePrm.maxSpeed>>stepModeShift))||\
+ ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos >= endAccPos)))
+ {
+ devicePrm.motionState = STEADY;
+ /* Apply running torque */
+ STSpin220_ApplyTorque(RUN_TORQUE);
+ }
+ else
+ {
+ bool speedUpdated = false;
+ /* Go on accelerating */
+ if (speed==0) speed =1;
+ devicePrm.accu += acc / speed;
+ while (devicePrm.accu>=(0X10000L))
+ {
+ devicePrm.accu -= (0X10000L);
+ speed +=1;
+ speedUpdated = true;
+ }
+
+ if (speedUpdated)
+ {
+ if (speed>(devicePrm.maxSpeed>>stepModeShift))
+ {
+ speed = devicePrm.maxSpeed>>stepModeShift;
+ }
+ devicePrm.speed = speed;
+ }
+
+ if (devicePrm.updateTorque!=false)
+ {
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(ACC_TORQUE);
+ }
+ }
+ break;
+ }
+ case STEADY:
+ {
+ uint16_t maxSpeed = devicePrm.maxSpeed>>stepModeShift;
+ uint32_t relativePos = devicePrm.relativePos;
+ if (devicePrm.updateTorque!=false)
+ {
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(RUN_TORQUE);
+ }
+ if (((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)||\
+ ((devicePrm.commandExecuted==MOVE_CMD)&&\
+ (relativePos>=(devicePrm.startDecPos)))||\
+ ((devicePrm.commandExecuted==RUN_CMD)&&\
+ (devicePrm.speed>maxSpeed)))
+ {
+ devicePrm.motionState = DECELERATING;
+ devicePrm.accu = 0;
+ /* Apply decelerating torque */
+ STSpin220_ApplyTorque(DEC_TORQUE);
+ }
+ else if ((devicePrm.commandExecuted==RUN_CMD)&&(devicePrm.speed<maxSpeed))
+ {
+ devicePrm.motionState = ACCELERATING;
+ devicePrm.accu = 0;
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(ACC_TORQUE);
+ }
+ break;
+ }
+ case DECELERATING:
+ {
+ uint32_t relativePos = devicePrm.relativePos;
+ uint16_t speed = devicePrm.speed;
+ uint32_t dec = ((uint32_t)devicePrm.deceleration << 16)>>stepModeShift;
+ if ((((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)&&\
+ (speed<=(devicePrm.minSpeed>>stepModeShift)))||\
+ ((devicePrm.commandExecuted==MOVE_CMD)&&(relativePos>=devicePrm.stepsToTake)))
+ {
+ /* Motion process complete */
+ if ((devicePrm.commandExecuted&STSPIN220_DIR_CHANGE_BIT_MASK)!=0)
+ {
+ devicePrm.commandExecuted=(deviceCommand_t)((~STSPIN220_DIR_CHANGE_BIT_MASK)&devicePrm.commandExecuted);
+ if (devicePrm.direction==BACKWARD) devicePrm.direction=FORWARD;
+ else devicePrm.direction=BACKWARD;
+ STSpin220_Board_SetDirectionGpio(devicePrm.direction);
+ if ((devicePrm.commandExecuted&STSPIN220_SOFT_STOP_BIT_MASK)==0)
+ {
+ devicePrm.motionState = ACCELERATING;
+ devicePrm.accu = 0;
+ /* Apply accelerating torque */
+ STSpin220_ApplyTorque(ACC_TORQUE);
+ break;
+ }
+ }
+ if (devicePrm.stopMode==HOLD_MODE)
+ {
+ STSpin220_HardStop();
+ }
+ else if (devicePrm.stopMode==STANDBY_MODE)
+ {
+ STSpin220_PutDeviceInStandby();
+ }
+ else
+ {
+ STSpin220_HardHiZ();
+ }
+ }
+ else if ((devicePrm.commandExecuted==RUN_CMD)&&
+ (speed<=(devicePrm.maxSpeed>>stepModeShift)))
+ {
+ devicePrm.motionState = STEADY;
+ /* Apply running torque */
+ STSpin220_ApplyTorque(RUN_TORQUE);
+ }
+ else
+ {
+ /* Go on decelerating */
+ if (speed>(devicePrm.minSpeed>>stepModeShift))
+ {
+ bool speedUpdated = false;
+ if (speed==0) speed =1;
+ devicePrm.accu += dec / speed;
+ while (devicePrm.accu>=(0X10000L))
+ {
+ devicePrm.accu -= (0X10000L);
+ if (speed>1)
+ {
+ speed -=1;
+ }
+ speedUpdated = true;
+ }
+
+ if (speedUpdated)
+ {
+ if (speed<(devicePrm.minSpeed>>stepModeShift))
+ {
+ speed = devicePrm.minSpeed>>stepModeShift;
+ }
+ devicePrm.speed = speed;
+ }
+
+ if (devicePrm.updateTorque!=false)
+ {
+ /* Apply decelerating torque */
+ STSpin220_ApplyTorque(DEC_TORQUE);
+ }
+ }
+ }
+ break;
+ }
+ default:
+ {
+ break;
+ }
+ }
+ }
+ if ((devicePrm.motionState & INACTIVE) != INACTIVE)
+ {
+ STSpin220_ApplySpeed(devicePrm.speed);
+ }
+ else
+ {
+ if (STSpin220_Board_TimStckStop(&toggleOdd) == 0)
+ {
+ STSpin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
+ }
+ }
+ STSpin220_Board_Monitor_Reset();
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSpin220/STSpin220.h Fri Mar 24 13:54:23 2017 +0000
@@ -0,0 +1,1200 @@
+/**
+ ******************************************************************************
+ * @file STSpin220.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_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.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 get_value(float *pData) //(1) *
+ * { *
+ * return COMPONENT_get_value(float *pfData); *
+ * } *
+ * *
+ * virtual int enable_feature(void) //(2) *
+ * { *
+ * return COMPONENT_enable_feature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+
+ /**
+ * @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;
+ }
+ }
+
+ /**
+ * @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_GetStepMode();
+ }
+
+ /**
+ * @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();
+ }
+
+ /**
+ * @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_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****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSpin220/STSpin220_config.h Fri Mar 24 13:54:23 2017 +0000
@@ -0,0 +1,120 @@
+/**************************************************************************//**
+ * @file STSpin220_config.h
+ * @author IPC Rennes
+ * @version V1.1.0
+ * @date May 26th, 2016
+ * @brief Predefines values for the STSpin220 registers
+ * and for the devices parameters
+ * @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_CONFIG_H
+#define __STSPIN220_CONFIG_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/** @addtogroup STSpin220
+ * @{
+ */
+
+/** @addtogroup Stspin220_Exported_Constants
+ * @{
+ */
+
+/** @defgroup Predefined_Stspin220_Registers_Values Predefined Stspin220 Registers Values
+ * @{
+ */
+
+/************************ Speed Profile *******************************/
+
+/// Acceleration rate in pulse/s2 (must be greater than 0)
+#define STSPIN220_CONF_PARAM_ACC (480)
+
+/// Deceleration rate in pulse/s2 (must be greater than 0)
+#define STSPIN220_CONF_PARAM_DEC (480)
+
+/// Running speed in pulse/s (8 pulse/s < Maximum speed <= 10 000 pulse/s )
+#define STSPIN220_CONF_PARAM_RUNNING_SPEED (1600)
+
+/// Minimum speed in pulse/s (8 pulse/s <= Minimum speed < 10 000 pulse/s)
+#define STSPIN220_CONF_PARAM_MIN_SPEED (400)
+
+/************************ Torque *******************************/
+
+/// Acceleration torque in % (from 0 to 100)
+#define STSPIN220_CONF_PARAM_ACC_TORQUE (20)
+
+/// Deceleration torque in % (from 0 to 100)
+#define STSPIN220_CONF_PARAM_DEC_TORQUE (15)
+
+/// Running torque in % (from 0 to 100)
+#define STSPIN220_CONF_PARAM_RUNNING_TORQUE (10)
+
+/// Holding torque in % (from 0 to 100)
+#define STSPIN220_CONF_PARAM_HOLDING_TORQUE (25)
+
+/// Torque boost speed enable
+#define STSPIN220_CONF_PARAM_TORQUE_BOOST_EN (TRUE)
+
+/// Torque boost speed threshold in fullstep/s
+#define STSPIN220_CONF_PARAM_TORQUE_BOOST_TH (200)
+
+/******************************* Others ***************************************/
+
+/// Step mode selection settings
+#define STSPIN220_CONF_PARAM_STEP_MODE (STEP_MODE_1_32)
+
+/// Automatic HIZ STOP
+#define STSPIN220_CONF_PARAM_AUTO_HIZ_STOP (HOLD_MODE)
+
+/// REF PWM frequency (Hz)
+#define STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY (100000)
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* __STSPIN220_CONFIG_H */
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/STSpin220/STSpin220_def.h Fri Mar 24 13:54:23 2017 +0000
@@ -0,0 +1,344 @@
+/******************************************************//**
+ * @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.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STSPIN220_H
+#define __STSPIN220_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "STSpin220_config.h"
+#include "motor_def.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;
+/**
+ * @}
+ */
+
+/** @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;
+/**
+ * @}
+ */
+
+/** @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;
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/* Functions --------------------------------------------------------*/
+
+/** @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);
+/**
+ * @}
+ */
+
+ /**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+ }
+#endif
+
+#endif /* #ifndef __STSPIN220_H */
+
+/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
--- a/Components/stspin220/STSpin220.cpp Fri Mar 24 10:59:19 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,1528 +0,0 @@
-/**
- ******************************************************************************
- * @file STSpin220.cpp
- * @author IPC Rennes
- * @version V1.0.0
- * @date July 27th, 2016
- * @brief STSpin220 product related routines
- * @note (C) COPYRIGHT 2016 STMicroelectronics
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "STSpin220.h"
-
-/* Definitions ---------------------------------------------------------------*/
-
-/* Variables ----------------------------------------------------------------*/
-/* Number of devices. */
-uint8_t STSpin220::numberOfDevices = 0;
-
-/* Methods -------------------------------------------------------------------*/
-/******************************************************//**
- * @brief Start the STSpin220 library
- * @param[in] pInit pointer to the initialization data
- * @retval COMPONENT_OK in case of success.
- **********************************************************/
-status_t STSpin220::Stspin220_Init(void* pInit)
-{
- Stspin220_Disable();
- if (pInit == NULL)
- {
- /* Set context variables to the predefined values from Stspin220_target_config.h */
- /* Set GPIO according to these values */
- Stspin220_SetDeviceParamsToPredefinedValues();
- }
- else
- {
- Stspin220_SetDeviceParamsToGivenValues((Stspin220_init_t*) pInit);
- }
- Stspin220_Board_TimStckInit(false);
- return COMPONENT_OK;
-}
-
-/**********************************************************
- * @brief Read id
- * @param id pointer to the identifier to be read.
- * @retval COMPONENT_OK in case of success.
- **********************************************************/
-status_t STSpin220::Stspin220_ReadID(uint8_t *id)
-{
- *id = deviceInstance;
-
- return COMPONENT_OK;
-}
-
-/**********************************************************
- * @brief Attaches a user callback to the error Handler.
- * The call back will be then called each time the library
- * detects an error
- * @param[in] callback Name of the callback to attach
- * to the error Hanlder
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_AttachErrorHandler(void (*callback)(uint16_t error))
-{
- errorHandlerCallback = (void (*)(uint16_t error)) callback;
-}
-
-/******************************************************//**
- * @brief Apply the set torque
- * @param[in] torqueMode torque mode
- * @retval None
- * @note
- **********************************************************/
-void STSpin220::Stspin220_ApplyTorque(motorTorqueMode_t torqueMode)
-{
- uint8_t torqueValue = 0;
- devicePrm.updateTorque = false;
- switch(torqueMode)
- {
- case ACC_TORQUE:
- devicePrm.currentTorque = devicePrm.accelTorque;
- break;
- case DEC_TORQUE:
- devicePrm.currentTorque = devicePrm.decelTorque;
- break;
- case RUN_TORQUE:
- devicePrm.currentTorque = devicePrm.runTorque;
- break;
- case HOLD_TORQUE:
- devicePrm.currentTorque = devicePrm.holdTorque;
- break;
- case CURRENT_TORQUE:
- break;
- default:
- return; //ignore error
- }
- torqueValue = devicePrm.currentTorque;
- Stspin220_Board_PwmRefSetDutyCycle(torqueValue);
-}
-
-/******************************************************//**
- * @brief Disable the power bridges (leave the output bridges HiZ)
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_disable(void)
-{
- Stspin220_Board_Disable();
-}
-
-/******************************************************//**
- * @brief Enable the power bridges
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_enable(void)
-{
- Stspin220_Board_Enable();
-}
-
-/******************************************************//**
- * @brief Error handler which calls the user callback (if defined)
- * @param[in] error Number of the error
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_ErrorHandler(uint16_t error)
-{
- if (errorHandlerCallback != 0)
- {
- errorHandlerCallback(error);
- }
- else
- {
- while(1)
- {
- /* Infinite loop */
- }
- }
-}
-
-/******************************************************//**
- * @brief Exit STSpin220 device from standby (low power consumption)
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_ExitDeviceFromStandby(void)
-{
- uint32_t sequencerPosition = devicePrm.sequencerPosition;
-
- /* Exit standby and set step mode */
- Stspin220_SetStepModeWithoutReset(devicePrm.stepMode);
-
- if (devicePrm.sequencerPosition != 0)
- {
- /* Set direction to FORWARD to ensure the HW sequencer is increased at */
- /* each step clock rising edge */
- Stspin220_SetDirection(FORWARD);
- /* Going out of standby */
- devicePrm.motionState = STANDBYTOINACTIVE;
- /* Program the step clock */
- Stspin220_Board_TimStckInit(true);
- Stspin220_Board_TimStckSetFreq(STSPIN220_MAX_STCK_FREQ);
- toggleOdd = 0;
- while (devicePrm.sequencerPosition != 0);
- while (toggleOdd!=0);
- devicePrm.sequencerPosition = sequencerPosition;
- }
-
- devicePrm.motionState = INACTIVE;
-}
-
-/******************************************************//**
- * @brief Return the acceleration
- * @retval Acceleration in pps^2
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetAcceleration(void)
-{
- return (devicePrm.acceleration);
-}
-
-/******************************************************//**
- * @brief Return the current speed
- * @retval Speed in pps
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetCurrentSpeed(void)
-{
- return devicePrm.speed;
-}
-
-/******************************************************//**
- * @brief Return the deceleration
- * @retval Deceleration in pps^2
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetDeceleration(void)
-{
- return (devicePrm.deceleration);
-}
-
-/******************************************************//**
- * @brief Return the device state
- * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
- **********************************************************/
-motorState_t STSpin220::Stspin220_get_device_state(void)
-{
- return devicePrm.motionState;
-}
-
-/******************************************************//**
- * @brief Get the motor current direction
- * @retval direction
- **********************************************************/
-motorDir_t STSpin220::Stspin220_GetDirection(void)
-{
- return devicePrm.direction;
-}
-
-/******************************************************//**
- * @brief Return the FW version.
- * @retval FW version
- **********************************************************/
-uint32_t STSpin220::Stspin220_GetFwVersion(void)
-{
- return (STSPIN220_FW_VERSION);
-}
-
-/******************************************************//**
- * @brief Get the mark position (32b signed)
- * @retval mark position
- **********************************************************/
-int32_t STSpin220::Stspin220_GetMark(void)
-{
- return devicePrm.markPosition;
-}
-
-/******************************************************//**
- * @brief Return the max speed
- * @retval maxSpeed in pps
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetMaxSpeed(void)
-{
- return (devicePrm.maxSpeed);
-}
-
-/******************************************************//**
- * @brief Get the min speed
- * in step/s for full, half and wave modes
- * in microsteps/s for microstep modes
- * @retval return the min speed in step/s or microstep/s
- * @note
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetMinSpeed(void)
-{
- return (devicePrm.minSpeed);
-}
-
-/******************************************************//**
- * @brief Get the current position (32b signed)
- * @retval current position value
- **********************************************************/
-int32_t STSpin220::Stspin220_GetPosition(void)
-{
- return devicePrm.currentPosition;
-}
-
-/******************************************************//**
- * @brief Get the motor step mode
- * @retval step mode
- **********************************************************/
-motorStepMode_t STSpin220::Stspin220_get_step_mode(void)
-{
- return devicePrm.stepMode;
-}
-
-/******************************************************//**
- * @brief Get the selected stop mode
- * @retval the selected stop mode
- **********************************************************/
-motorStopMode_t STSpin220::Stspin220_GetStopMode(void)
-{
- return devicePrm.stopMode;
-}
-
-/******************************************************//**
- * @brief Get the torque
- * @param[in] torqueMode torque mode
- * @retval the torqueValue in % (from 0 to 100)
- * @note
- **********************************************************/
-uint8_t STSpin220::Stspin220_GetTorque(motorTorqueMode_t torqueMode)
-{
- uint8_t torqueValue = 0;
- switch(torqueMode)
- {
- case ACC_TORQUE:
- torqueValue = devicePrm.accelTorque;
- break;
- case DEC_TORQUE:
- torqueValue = devicePrm.decelTorque;
- break;
- case RUN_TORQUE:
- torqueValue = devicePrm.runTorque;
- break;
- case HOLD_TORQUE:
- torqueValue = devicePrm.holdTorque;
- break;
- case CURRENT_TORQUE:
- torqueValue = devicePrm.currentTorque;
- break;
- default:
- break;
- }
- return torqueValue;
-}
-
-/******************************************************//**
- * @brief Get the torque boost feature status
- * @retval TRUE if enabled, FALSE if disabled
- **********************************************************/
-bool STSpin220::Stspin220_GetTorqueBoostenable(void)
-{
- return devicePrm.torqueBoostEnable;
-}
-
-/******************************************************//**
- * @brief Get the torque boost threshold
- * @retval The torque boost threshold above which the step mode is
- * changed to full step
- **********************************************************/
-uint16_t STSpin220::Stspin220_GetTorqueBoostThreshold(void)
-{
- return devicePrm.torqueBoostSpeedThreshold;
-}
-
-/******************************************************//**
- * @brief Go to the home position
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_GoHome(void)
-{
- Stspin220_GoTo(0);
-}
-
-/******************************************************//**
- * @brief Go to the Mark position
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_GoMark(void)
-{
- Stspin220_GoTo(devicePrm.markPosition);
-}
-
-/******************************************************//**
- * @brief Request the motor to move to the specified position
- * @param[in] targetPosition absolute position in steps
- * @retval None
- * @note The position is at the resolution corresponding to the
- * selected step mode.
- * STEP_MODE_FULL : step
- * STEP_MODE_HALF : 1/2 step
- * STEP_MODE_1_4 : 1/4 step
- * STEP_MODE_1_8 : 1/8 step
- * STEP_MODE_1_16 : 1/16 step
- * STEP_MODE_1_32 : 1/32 step
- * STEP_MODE_1_64 : 1/64 step
- * STEP_MODE_1_128 : 1/128 step
- * STEP_MODE_1_256 : 1/256 step
- **********************************************************/
-void STSpin220::Stspin220_GoTo(int32_t targetPosition)
-{
- motorDir_t direction;
-
- /* Exit from standby if needed */
- if (devicePrm.motionState == STANDBY)
- {
- Stspin220_ExitDeviceFromStandby();
- }
- /* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- Stspin220_HardHiZ();
- }
-
- if (targetPosition > devicePrm.currentPosition)
- {
- devicePrm.stepsToTake = targetPosition -\
- devicePrm.currentPosition;
- if (devicePrm.stepsToTake < (STSPIN220_POSITION_RANGE>>1))
- {
- direction = FORWARD;
- }
- else
- {
- direction = BACKWARD;
- devicePrm.stepsToTake = STSPIN220_POSITION_RANGE -\
- devicePrm.stepsToTake;
- }
- }
- else
- {
- devicePrm.stepsToTake = devicePrm.currentPosition -\
- targetPosition;
- if (devicePrm.stepsToTake < (STSPIN220_POSITION_RANGE>>1))
- {
- direction = BACKWARD;
- }
- else
- {
- direction = FORWARD;
- devicePrm.stepsToTake = STSPIN220_POSITION_RANGE -\
- devicePrm.stepsToTake;
- }
- }
-
- if (devicePrm.stepsToTake != 0)
- {
- devicePrm.commandExecuted = MOVE_CMD;
-
- /* Direction setup */
- Stspin220_SetDirection(direction);
-
- Stspin220_ComputeSpeedProfile(devicePrm.stepsToTake);
-
- /* Motor activation */
- Stspin220_StartMovement();
- }
-}
-
-/******************************************************//**
- * @brief move the motor to the absolute position
- * @param[in] direction FORWARD or BACKWARD
- * @param[in] targetPosition 32 bit signed value position
- * @retval None
- * @note The position is at the resolution corresponding to the
- * selected step mode.
- * STEP_MODE_FULL : step
- * STEP_MODE_HALF : 1/2 step
- * STEP_MODE_1_4 : 1/4 step
- * STEP_MODE_1_8 : 1/8 step
- * STEP_MODE_1_16 : 1/16 step
- * STEP_MODE_1_32 : 1/32 step
- * STEP_MODE_1_64 : 1/64 step
- * STEP_MODE_1_128 : 1/128 step
- * STEP_MODE_1_256 : 1/256 step
- **********************************************************/
-void STSpin220::Stspin220_GoToDir(motorDir_t direction, int32_t targetPosition)
-{
- /* Exit from standby if needed */
- if (devicePrm.motionState == STANDBY)
- {
- Stspin220_ExitDeviceFromStandby();
- }
- /* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- Stspin220_HardHiZ();
- }
-
- if (direction != BACKWARD)
- {
- if (targetPosition > devicePrm.currentPosition)
- {
- devicePrm.stepsToTake = targetPosition -\
- devicePrm.currentPosition;
- }
- else
- {
- devicePrm.stepsToTake = STSPIN220_POSITION_RANGE +\
- (targetPosition -\
- devicePrm.currentPosition);
- }
- }
- else
- {
- if (targetPosition > devicePrm.currentPosition)
- {
- devicePrm.stepsToTake = STSPIN220_POSITION_RANGE +\
- (devicePrm.currentPosition -\
- targetPosition);
- }
- else
- {
- devicePrm.stepsToTake = devicePrm.currentPosition -\
- targetPosition;
- }
- }
-
- if (devicePrm.stepsToTake != 0)
- {
- devicePrm.commandExecuted = MOVE_CMD;
-
- /* Direction setup */
- Stspin220_SetDirection(direction);
-
- Stspin220_ComputeSpeedProfile(devicePrm.stepsToTake);
-
- /* Motor activation */
- Stspin220_StartMovement();
- }
-}
-
-/******************************************************//**
- * @brief Immediately stop the motor and disables the power bridges
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_HardHiZ(void)
-{
- /* Set inactive state */
- devicePrm.motionState = INACTIVE;
-
- /* Disable step clock */
- if (Stspin220_Board_TimStckStop(&toggleOdd) == 0)
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
- }
-
- /* Let the PWM REF and bridges enabled at least for DISABLE_DELAY time */
- /* after the last step clock rising edge triggering the last step */
- Stspin220_Board_Delay(DISABLE_DELAY);
-
- /* Set reference voltage to 0 */
- Stspin220_SetTorque(CURRENT_TORQUE, 0);
-
- /* Disable power bridges */
- Stspin220_Board_Disable();
-
- /* Comeback to nominal step mode */
- if (devicePrm.stepModeLatched != devicePrm.stepMode)
- {
- Stspin220_Board_UnsetFullStep();
- devicePrm.stepMode = devicePrm.stepModeLatched;
- }
-
- devicePrm.commandExecuted = NO_CMD;
- devicePrm.stepsToTake = 0;
- devicePrm.speed = 0;
-}
-
-/******************************************************//**
- * @brief Immediatly stop the motor
- * and either set holding torque when stop mode is HOLD_MODE,
- * or call Stspin220_HardHiz function when stop mode is HIZ_MODE,
- * or call Stspin220_PutDeviceInStandby function when stop mode is STANDBY_MODE
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_HardStop(void)
-{
- if (devicePrm.stopMode == HOLD_MODE)
- {
- /* Set inactive state */
- devicePrm.motionState = INACTIVE;
-
- /* Disable step clock */
- if (Stspin220_Board_TimStckStop(&toggleOdd) == 0)
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
- }
-
- /* Set holding torque */
- Stspin220_ApplyTorque(HOLD_TORQUE);
-
- /* Comeback to nominal step mode */
- if (devicePrm.stepModeLatched != devicePrm.stepMode)
- {
- Stspin220_Board_UnsetFullStep();
- devicePrm.stepMode = devicePrm.stepModeLatched;
- }
-
- devicePrm.commandExecuted = NO_CMD;
- devicePrm.stepsToTake = 0;
- devicePrm.speed = 0;
- }
- else if (devicePrm.stopMode == HIZ_MODE)
- {
- Stspin220_HardHiZ();
- }
- else if (devicePrm.stopMode == STANDBY_MODE)
- {
- Stspin220_PutDeviceInStandby();
- }
-}
-
-/******************************************************//**
- * @brief Moves the motor of the specified number of steps
- * @param[in] direction FORWARD or BACKWARD
- * @param[in] stepCount Number of steps to perform
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_Move(motorDir_t direction, uint32_t stepCount)
-{
- /* Exit from standby if needed */
- if (devicePrm.motionState == STANDBY)
- {
- Stspin220_ExitDeviceFromStandby();
- }
- /* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- Stspin220_HardHiZ();
- }
-
- if (stepCount != 0)
- {
- devicePrm.stepsToTake = stepCount;
- devicePrm.commandExecuted = MOVE_CMD;
-
- /* Direction setup */
- Stspin220_SetDirection(direction);
-
- Stspin220_ComputeSpeedProfile(stepCount);
-
- /* Motor activation */
- Stspin220_StartMovement();
- }
-}
-
-/******************************************************//**
- * @brief Put STSpin220 device in standby (low power consumption)
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_PutDeviceInStandby(void)
-{
- /* Stop movement */
- Stspin220_HardHiZ();
-
- /* Enter standby */
- Stspin220_Board_Reset();
-
- devicePrm.motionState = STANDBY;
-}
-
-/******************************************************//**
- * @brief Runs the motor. It will accelerate from the min
- * speed up to the max speed by using the device acceleration.
- * @param[in] direction FORWARD or BACKWARD
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_Run(motorDir_t direction)
-{
- /* Exit from standby if needed */
- if (devicePrm.motionState == STANDBY)
- {
- Stspin220_ExitDeviceFromStandby();
- }
- /* Deactivate motor if needed */
- else if (devicePrm.motionState != INACTIVE)
- {
- Stspin220_HardHiZ();
- }
-
- /* Direction setup */
- Stspin220_SetDirection(direction);
- devicePrm.commandExecuted = RUN_CMD;
- /* Motor activation */
- Stspin220_StartMovement();
-}
-
-/******************************************************//**
- * @brief Changes the acceleration
- * @param[in] newAcc New acceleration to apply in pps^2
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed if the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command)
- **********************************************************/
-bool STSpin220::Stspin220_SetAcceleration(uint16_t newAcc)
-{
- bool cmdExecuted = false;
- if ((newAcc != 0)&&
- (((devicePrm.motionState & INACTIVE) == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
- {
- devicePrm.acceleration = newAcc;
- cmdExecuted = true;
- }
- return cmdExecuted;
-}
-
-/******************************************************//**
- * @brief Changes the deceleration
- * @param[in] newDec New deceleration to apply in pps^2
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed if the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command)
- **********************************************************/
-bool STSpin220::Stspin220_SetDeceleration(uint16_t newDec)
-{
- bool cmdExecuted = false;
- if ((newDec != 0)&&
- (((devicePrm.motionState & INACTIVE) == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
- {
- devicePrm.deceleration = newDec;
- cmdExecuted = true;
- }
- return cmdExecuted;
-}
-
-/******************************************************//**
- * @brief Specifies the direction
- * @param[in] dir FORWARD or BACKWARD
- * @note The direction change is applied if the device
- * is in INACTIVE or STANDBY state or if the device is
- * executing a run command
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetDirection(motorDir_t dir)
-{
- if ((devicePrm.motionState == INACTIVE)||\
- (devicePrm.motionState == STANDBY))
- {
- devicePrm.direction = dir;
- Stspin220_Board_SetDirectionGpio(dir);
- }
- else if ((devicePrm.commandExecuted&RUN_CMD)!=0)
- {
- devicePrm.commandExecuted=(deviceCommand_t)
- (STSPIN220_DIR_CHANGE_BIT_MASK|devicePrm.commandExecuted);
- }
-}
-
-/******************************************************//**
- * @brief Set current position to be the Home position
- * (current position set to 0)
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetHome(void)
-{
- devicePrm.currentPosition = 0;
-}
-
-/******************************************************//**
- * @brief Set current position to be the Mark position
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetMark(void)
-{
- devicePrm.markPosition = devicePrm.currentPosition;
-}
-
-/******************************************************//**
- * @brief Changes the max speed
- * @param[in] newMaxSpeed New max speed to apply in pps
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command).
- **********************************************************/
-bool STSpin220::Stspin220_SetMaxSpeed(uint16_t newMaxSpeed)
-{
- bool cmdExecuted = false;
- if ((newMaxSpeed >= STSPIN220_MIN_STCK_FREQ)&&\
- ((newMaxSpeed <= STSPIN220_MAX_STCK_FREQ)||\
- ((devicePrm.torqueBoostEnable != false)&&\
- ((newMaxSpeed>>Stspin220_get_step_mode())<= STSPIN220_MAX_STCK_FREQ)))&&\
- (devicePrm.minSpeed <= newMaxSpeed) &&\
- (((devicePrm.motionState & INACTIVE) == INACTIVE)||\
- (devicePrm.commandExecuted == RUN_CMD)))
- {
- devicePrm.maxSpeed = newMaxSpeed;
- cmdExecuted = true;
- }
- return cmdExecuted;
-}
-
-/******************************************************//**
- * @brief Changes the min speed
- * @param[in] newMinSpeed New min speed to apply in pps
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed is the device is executing
- * a MOVE or GOTO command (but it can be used during a RUN command).
- **********************************************************/
-bool STSpin220::Stspin220_SetMinSpeed(uint16_t newMinSpeed)
-{
- bool cmdExecuted = false;
- if ((newMinSpeed >= STSPIN220_MIN_STCK_FREQ)&&
- (newMinSpeed <= STSPIN220_MAX_STCK_FREQ) &&
- (newMinSpeed <= devicePrm.maxSpeed) &&
- (((devicePrm.motionState & INACTIVE) == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
- {
- devicePrm.minSpeed = newMinSpeed;
- cmdExecuted = true;
- }
- return cmdExecuted;
-}
-
-/******************************************************//**
- * @brief Set the stepping mode
- * @param[in] stepMode from full step to 1/256 microstep
- * as specified in enum motorStepMode_t
- * @retval true if the command is successfully executed, else false
- **********************************************************/
-bool STSpin220::Stspin220_SetStepMode(motorStepMode_t stepMode)
-{
- /* Eventually deactivate motor */
- if ((devicePrm.motionState != INACTIVE)&&\
- (devicePrm.motionState != STANDBY))
- {
- Stspin220_HardHiZ();
- }
-
- /* Enter standby */
- Stspin220_Board_Reset();
-
- /* Reset the microstepping sequencer position */
- devicePrm.sequencerPosition = 0;
-
- /* Reset current and mark positions */
- devicePrm.currentPosition = 0;
- devicePrm.markPosition = 0;
-
- /* Set the step mode */
- return (Stspin220_SetStepModeWithoutReset(stepMode));
-}
-
-/******************************************************//**
- * @brief Select the mode to stop the motor.
- * @param[in] stopMode HOLD_MODE to let power bridge enabled
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetStopMode(motorStopMode_t stopMode)
-{
- devicePrm.stopMode = stopMode;
-}
-
-/******************************************************//**
- * @brief Set the torque
- * @param[in] torqueMode Torque mode as specified in enum motorTorqueMode_t
- * @param[in] torqueValue in % (from 0 to 100)
- * @retval None
- * @note
- **********************************************************/
-void STSpin220::Stspin220_SetTorque(motorTorqueMode_t torqueMode, uint8_t torqueValue)
-{
- devicePrm.updateTorque = true;
- if (torqueValue>100) torqueValue = 100;
- switch(torqueMode)
- {
- case ACC_TORQUE:
- devicePrm.accelTorque = torqueValue;
- break;
- case DEC_TORQUE:
- devicePrm.decelTorque = torqueValue;
- break;
- case RUN_TORQUE:
- devicePrm.runTorque = torqueValue;
- break;
- case HOLD_TORQUE:
- devicePrm.holdTorque = torqueValue;
- if (devicePrm.motionState != INACTIVE)
- {
- break;
- }
- case CURRENT_TORQUE:
- devicePrm.currentTorque = torqueValue;
- Stspin220_Board_PwmRefSetDutyCycle(torqueValue);
- default:
- devicePrm.updateTorque = false;
- break; //ignore error
- }
-}
-
-/******************************************************//**
- * @brief Enable or disable the torque boost feature
- * @param[in] enable true to enable torque boost, false to disable
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetTorqueBoostEnable(bool enable)
-{
- devicePrm.torqueBoostEnable = enable;
-}
-
-/******************************************************//**
- * @brief Set the torque boost threshold
- * @param[in] speedThreshold speed threshold above which the step mode is
- * changed to full step
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetTorqueBoostThreshold(uint16_t speedThreshold)
-{
- devicePrm.torqueBoostSpeedThreshold = speedThreshold;
-}
-
-/******************************************************//**
- * @brief Stops the motor by using the device deceleration
- * @retval true if the command is successfully executed, else false
- * @note The command is not performed if the device is in INACTIVE,
- * STANDBYTOINACTIVE or STANDBY state.
- **********************************************************/
-bool STSpin220::Stspin220_SoftStop(void)
-{
- bool cmdExecuted = false;
- if ((devicePrm.motionState & INACTIVE) != INACTIVE)
- {
- devicePrm.commandExecuted=(deviceCommand_t)
- (STSPIN220_SOFT_STOP_BIT_MASK|devicePrm.commandExecuted);
- cmdExecuted = true;
- }
- return (cmdExecuted);
-}
-
-/******************************************************//**
- * @brief Get the frequency of REF PWM
- * @retval the frequency of REF PWM in Hz
- * @note
- **********************************************************/
-uint32_t STSpin220::Stspin220_VrefPwmGetFreq(void)
-{
- return devicePrm.refPwmFreq;
-}
-
-/******************************************************//**
- * @brief Set the frequency of REF PWM
- * @param[in] newFreq in Hz
- * @retval None
- * @note
- **********************************************************/
-void STSpin220::Stspin220_VrefPwmSetFreq(uint32_t newFreq)
-{
- devicePrm.refPwmFreq = newFreq;
- Stspin220_Board_PwmRefSetFreq(newFreq);
-}
-
-/******************************************************//**
- * @brief Locks until the device state becomes Inactive
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_WaitWhileActive(void)
-{
- /* Wait while motor is running */
- while (((Stspin220_get_device_state()&INACTIVE)!=INACTIVE)||\
- (((Stspin220_get_device_state()&INACTIVE)==INACTIVE)&&(toggleOdd!=0)));
-}
-
-/* ------------------------------------------------------------------------- */
-/* Internal functions ------------------------------------------------------ */
-/* ------------------------------------------------------------------------- */
-/******************************************************//**
- * @brief Updates the current speed of the device
- * @param[in] newSpeed in pps
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_ApplySpeed(uint16_t newSpeed)
-{
- if (devicePrm.torqueBoostEnable != false)
- {
- if (devicePrm.stepMode > (motorStepMode_t)STEP_MODE_1_256)
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_APPLY_SPEED);
- }
- if (devicePrm.stepMode != (motorStepMode_t)STEP_MODE_FULL)
- {
- if (((newSpeed>>devicePrm.stepModeLatched)>\
- devicePrm.torqueBoostSpeedThreshold)&&\
- (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) != MOVE_CMD) ||\
- ((devicePrm.stepsToTake-devicePrm.relativePos)>=\
- (1<<devicePrm.stepModeLatched))))
- {
- if ((devicePrm.sequencerPosition & 0xFF) == 0X80)
- {
- Stspin220_Board_SetFullStep();
- devicePrm.stepMode = (motorStepMode_t)STEP_MODE_FULL;
- devicePrm.accu >>= devicePrm.stepModeLatched;
- newSpeed >>= devicePrm.stepModeLatched;
- }
- }
- }
- else if (((newSpeed <= devicePrm.torqueBoostSpeedThreshold) &&\
- (devicePrm.stepModeLatched != (motorStepMode_t)STEP_MODE_FULL))||\
- (((devicePrm.commandExecuted & STSPIN220_MOVE_BIT_MASK) == MOVE_CMD)&&\
- ((devicePrm.stepsToTake-devicePrm.relativePos)<=\
- (1<<devicePrm.stepModeLatched))))
- {
- Stspin220_Board_UnsetFullStep();
- devicePrm.stepMode = devicePrm.stepModeLatched;
- devicePrm.accu <<= devicePrm.stepModeLatched;
- newSpeed <<= devicePrm.stepModeLatched;
- }
- }
- else if (devicePrm.stepMode != devicePrm.stepModeLatched)
- {
- //torqueBoostEnable has just been disabled
- Stspin220_Board_UnsetFullStep();
- devicePrm.stepMode = devicePrm.stepModeLatched;
- devicePrm.accu <<= devicePrm.stepModeLatched;
- newSpeed <<= devicePrm.stepModeLatched;
- }
-
- if (newSpeed < STSPIN220_MIN_STCK_FREQ)
- {
- newSpeed = STSPIN220_MIN_STCK_FREQ;
- }
- if (newSpeed > STSPIN220_MAX_STCK_FREQ)
- {
- newSpeed = STSPIN220_MAX_STCK_FREQ;
- }
-
- devicePrm.speed = newSpeed;
- Stspin220_Board_TimStckSetFreq(newSpeed);
-
-}
-
-/******************************************************//**
- * @brief Computes the speed profile according to the number of steps to move
- * @param[in] nbSteps number of steps to perform
- * @retval None
- * @note Using the acceleration and deceleration of the device,
- * this function determines the duration in steps of the acceleration,
- * steady and deceleration phases.
- * If the total number of steps to perform is big enough, a trapezoidal move
- * is performed (i.e. there is a steady phase where the motor runs at the maximum
- * speed.
- * Else, a triangular move is performed (no steady phase: the maximum speed is never
- * reached.
- **********************************************************/
-void STSpin220::Stspin220_ComputeSpeedProfile(uint32_t nbSteps)
-{
- uint32_t reqAccSteps;
- uint32_t reqDecSteps;
-
- /* compute the number of steps to get the targeted speed */
- uint16_t minSpeed = devicePrm.minSpeed;
- reqAccSteps = (devicePrm.maxSpeed - minSpeed);
- reqAccSteps *= (devicePrm.maxSpeed + minSpeed);
- reqDecSteps = reqAccSteps;
- reqAccSteps /= (uint32_t)devicePrm.acceleration;
- reqAccSteps /= 2;
-
- /* compute the number of steps to stop */
- reqDecSteps /= (uint32_t)devicePrm.deceleration;
- reqDecSteps /= 2;
-
- if(( reqAccSteps + reqDecSteps ) > nbSteps)
- {
- /* Triangular move */
- /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
- uint32_t dec = devicePrm.deceleration;
- uint32_t acc = devicePrm.acceleration;
-
- reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
- if (reqDecSteps > 1)
- {
- reqAccSteps = reqDecSteps - 1;
- if(reqAccSteps == 0)
- {
- reqAccSteps = 1;
- }
- }
- else
- {
- reqAccSteps = 0;
- }
- devicePrm.endAccPos = reqAccSteps;
- devicePrm.startDecPos = reqDecSteps;
- }
- else
- {
- /* Trapezoidal move */
- /* accelerating phase to endAccPos */
- /* steady phase from endAccPos to startDecPos */
- /* decelerating from startDecPos to stepsToTake*/
- devicePrm.endAccPos = reqAccSteps;
- devicePrm.startDecPos = nbSteps - reqDecSteps - 1;
- }
-}
-
-/******************************************************//**
- * @brief Set the parameters of the device whose values are not defined in
- * stspin220_target_config.h
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetDeviceParamsOtherValues(void)
-{
- uint16_t tmp;
-
- devicePrm.accu = 0;
- devicePrm.currentPosition = 0;
- devicePrm.sequencerPosition = 0;
- devicePrm.endAccPos = 0;
- devicePrm.relativePos = 0;
- devicePrm.startDecPos = 0;
- devicePrm.stepsToTake = 0;
- devicePrm.updateTorque = false;
- devicePrm.speed = 0;
- devicePrm.commandExecuted = NO_CMD;
- devicePrm.direction = FORWARD;
- tmp = devicePrm.minSpeed;
- if (((devicePrm.torqueBoostEnable != false)&&\
- (devicePrm.torqueBoostSpeedThreshold>STSPIN220_MAX_STCK_FREQ))||\
- (tmp>devicePrm.maxSpeed))
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_INIT);
- }
-}
-
-/******************************************************//**
- * @brief Set the parameters of the device to values of the structure pointed
- * by pInitDevicePrm. Set GPIO according to these values.
- * @param pInitDevicePrm pointer onto the structure containing values to
- * initialize the device parameters.
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetDeviceParamsToGivenValues(Stspin220_init_t* pInitDevicePrm)
-{
- devicePrm.motionState = STANDBY;
-
- if (Stspin220_SetAcceleration(pInitDevicePrm->acceleration)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
- if (Stspin220_SetDeceleration(pInitDevicePrm->deceleration)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
- if (Stspin220_SetMaxSpeed(pInitDevicePrm->maxSpeed)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
- if (Stspin220_SetMinSpeed(pInitDevicePrm->minSpeed)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
-
- Stspin220_VrefPwmSetFreq(pInitDevicePrm->vrefPwmFreq);
- Stspin220_SetTorque(ACC_TORQUE,pInitDevicePrm->accelTorque);
- Stspin220_SetTorque(DEC_TORQUE,pInitDevicePrm->decelTorque);
- Stspin220_SetTorque(RUN_TORQUE,pInitDevicePrm->runTorque);
- Stspin220_SetTorque(HOLD_TORQUE,pInitDevicePrm->holdTorque);
- devicePrm.torqueBoostEnable = pInitDevicePrm->torqueBoostEnable;
- devicePrm.torqueBoostSpeedThreshold = pInitDevicePrm->torqueBoostSpeedThreshold;
- Stspin220_SetStopMode(pInitDevicePrm->stopMode);
-
- Stspin220_SetDeviceParamsOtherValues();
-
- /* Set predefined step mode */
- /* Standby-reset deactivation included to latch the MODEX inputs */
- Stspin220_SetStepMode(pInitDevicePrm->stepMode);
-}
-
-/******************************************************//**
- * @brief Sets the parameters of the device to predefined values
- * from stspin220_target_config.h
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_SetDeviceParamsToPredefinedValues(void)
-{
- devicePrm.motionState = STANDBY;
-
- if (Stspin220_SetAcceleration(STSPIN220_CONF_PARAM_ACC)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_ACCELERATION);
- if (Stspin220_SetDeceleration(STSPIN220_CONF_PARAM_DEC)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_DECELERATION);
- if (Stspin220_SetMaxSpeed(STSPIN220_CONF_PARAM_RUNNING_SPEED)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_MAX_SPEED);
- if (Stspin220_SetMinSpeed(STSPIN220_CONF_PARAM_MIN_SPEED)==false) Stspin220_ErrorHandler(STSPIN220_ERROR_SET_MIN_SPEED);
-
- Stspin220_VrefPwmSetFreq(STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY);
- Stspin220_SetTorque(ACC_TORQUE,STSPIN220_CONF_PARAM_ACC_TORQUE);
- Stspin220_SetTorque(DEC_TORQUE,STSPIN220_CONF_PARAM_DEC_TORQUE);
- Stspin220_SetTorque(RUN_TORQUE,STSPIN220_CONF_PARAM_RUNNING_TORQUE);
- Stspin220_SetTorque(HOLD_TORQUE,STSPIN220_CONF_PARAM_HOLDING_TORQUE);
- devicePrm.torqueBoostEnable = STSPIN220_CONF_PARAM_TORQUE_BOOST_EN;
- devicePrm.torqueBoostSpeedThreshold = STSPIN220_CONF_PARAM_TORQUE_BOOST_TH;
- Stspin220_SetStopMode(STSPIN220_CONF_PARAM_AUTO_HIZ_STOP);
-
- Stspin220_SetDeviceParamsOtherValues();
-
- /* Set predefined step mode */
- /* Standby-reset deactivation included to latch the MODEX inputs */
- Stspin220_SetStepMode((motorStepMode_t)STSPIN220_CONF_PARAM_STEP_MODE);
-}
-
-/******************************************************//**
- * @brief Set the stepping mode without reset
- * @param[in] stepMode from full step to 1/256 microstep
- * as specified in enum motorStepMode_t
- * @retval true if the command is successfully executed, else false
- **********************************************************/
-bool STSpin220::Stspin220_SetStepModeWithoutReset(motorStepMode_t stepMode)
-{
- /* Store step mode */
- devicePrm.stepMode = stepMode;
- devicePrm.stepModeLatched = stepMode;
-
- /* Set the mode pins to the levels corresponding to the selected step mode */
- switch (stepMode)
- {
- case STEP_MODE_FULL:
- Stspin220_Board_SetFullStep();
- break;
- case STEP_MODE_HALF:
- Stspin220_Board_SetModePins(1, 0, 1, 0);
- break;
- case STEP_MODE_1_4:
- Stspin220_Board_SetModePins(0, 1, 0, 1);
- break;
- case STEP_MODE_1_8:
- Stspin220_Board_SetModePins(1, 1, 1, 0);
- break;
- case STEP_MODE_1_16:
- Stspin220_Board_SetModePins(1, 1, 1, 1);
- break;
- case STEP_MODE_1_32:
- Stspin220_Board_SetModePins(0, 0, 0, 1);
- break;
- case STEP_MODE_1_64:
- Stspin220_Board_SetModePins(1, 1, 0, 1);
- break;
- case STEP_MODE_1_128:
- Stspin220_Board_SetModePins(0, 0, 1, 0);
- break;
- case STEP_MODE_1_256:
- Stspin220_Board_SetModePins(1, 1, 0, 0);
- break;
- default:
- return false;
- }
-
- /* Wait */
- Stspin220_Board_Delay(SELECT_STEP_MODE_DELAY);
-
- /* Exit standby, selected step mode is latched */
- Stspin220_Board_ReleaseReset();
-
- /* Let a delay after reset release and step mode latching*/
- Stspin220_Board_Delay(AFTER_STANDBY_EXIT_DEAD_TIME);
-
- /* If full step mode is not selected, do not keep MODE1 = MODE2 = 0 */
- /* after the device quit the standby condition */
- if (stepMode!=(motorStepMode_t)STEP_MODE_FULL)
- {
- Stspin220_Board_UnsetFullStep();
- }
-
- return true;
-}
-
-/******************************************************//**
- * @brief Initialises the bridge parameters to start the movement
- * and enable the power bridge
- * @retval None
- **********************************************************/
-void STSpin220::Stspin220_StartMovement(void)
-{
- /* Enable STSpin220 powerstage */
- Stspin220_Enable();
- toggleOdd = 0;
- devicePrm.accu = 0;
- devicePrm.relativePos = 0;
- Stspin220_Board_TimStckInit(true);
- if ((devicePrm.endAccPos == 0)&&\
- (devicePrm.commandExecuted != RUN_CMD))
- {
- devicePrm.motionState = DECELERATING;
- Stspin220_Board_PwmRefStart(devicePrm.refPwmFreq, DEC_TORQUE);
- }
- else
- {
- devicePrm.motionState = ACCELERATING;
- Stspin220_Board_PwmRefStart(devicePrm.refPwmFreq, ACC_TORQUE);
- }
- /* Program the step clock */
- Stspin220_ApplySpeed(devicePrm.minSpeed);
-}
-
-/******************************************************//**
- * @brief Handles the device state machine at each pulse
- * @retval None
- * @note Must only be called by the timer ISR
- **********************************************************/
-void STSpin220::Stspin220_StepClockHandler(void)
-{
- uint32_t stepModeShift = devicePrm.stepModeLatched - devicePrm.stepMode;
- uint16_t tmp;
- Stspin220_Board_Monitor_Set();
- if (devicePrm.motionState == STANDBYTOINACTIVE)
- {
- if (toggleOdd != 0)
- {
- Stspin220_Board_StckMode3_Reset();
- toggleOdd = 0;
- if (devicePrm.sequencerPosition == 0)
- {
- if (Stspin220_Board_TimStckStop(&toggleOdd) == 0)
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
- }
- return;
- }
- }
- else
- {
- Stspin220_Board_StckMode3_Set();
- toggleOdd = 1;
- tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
- devicePrm.sequencerPosition -= tmp;
- }
- Stspin220_Board_TimStckSetFreq(STSPIN220_MAX_STCK_FREQ);
- return;
- }
-
- if (toggleOdd == 0)
- {
- Stspin220_Board_StckMode3_Set();
- toggleOdd = 1;
- }
- else
- {
- Stspin220_Board_StckMode3_Reset();
- toggleOdd = 0;
- /* Incrementation of the relative position */
- devicePrm.relativePos += (1 << stepModeShift);
-
- /* Incrementation of the current position */
- if (devicePrm.direction != BACKWARD)
- {
- devicePrm.currentPosition += (1 << stepModeShift);
- tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
- devicePrm.sequencerPosition += tmp;
- if (devicePrm.sequencerPosition >= (SEQUENCER_MAX_VALUE+1))
- {
- devicePrm.sequencerPosition -= (SEQUENCER_MAX_VALUE+1);
- }
- }
- else
- {
- devicePrm.currentPosition -= (1 << stepModeShift);
- tmp = (1 << ((motorStepMode_t)STEP_MODE_1_256-devicePrm.stepMode));
- devicePrm.sequencerPosition -= tmp;
- if (devicePrm.sequencerPosition < 0)
- {
- devicePrm.sequencerPosition += (SEQUENCER_MAX_VALUE+1);
- }
- }
-
- switch (devicePrm.motionState)
- {
- case ACCELERATING:
- {
- uint32_t relPos = devicePrm.relativePos;
- uint32_t endAccPos = devicePrm.endAccPos;
- uint16_t speed = devicePrm.speed;
- uint32_t acc = ((uint32_t)devicePrm.acceleration << 16)>>stepModeShift;
-
- if (((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)||\
- ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos>=devicePrm.startDecPos)))
- {
- devicePrm.motionState = DECELERATING;
- devicePrm.accu = 0;
- /* Apply decelerating torque */
- Stspin220_ApplyTorque(DEC_TORQUE);
- }
- else if ((speed>=(devicePrm.maxSpeed>>stepModeShift))||\
- ((devicePrm.commandExecuted==MOVE_CMD)&&(relPos >= endAccPos)))
- {
- devicePrm.motionState = STEADY;
- /* Apply running torque */
- Stspin220_ApplyTorque(RUN_TORQUE);
- }
- else
- {
- bool speedUpdated = false;
- /* Go on accelerating */
- if (speed==0) speed =1;
- devicePrm.accu += acc / speed;
- while (devicePrm.accu>=(0X10000L))
- {
- devicePrm.accu -= (0X10000L);
- speed +=1;
- speedUpdated = true;
- }
-
- if (speedUpdated)
- {
- if (speed>(devicePrm.maxSpeed>>stepModeShift))
- {
- speed = devicePrm.maxSpeed>>stepModeShift;
- }
- devicePrm.speed = speed;
- }
-
- if (devicePrm.updateTorque!=false)
- {
- /* Apply accelerating torque */
- Stspin220_ApplyTorque(ACC_TORQUE);
- }
- }
- break;
- }
- case STEADY:
- {
- uint16_t maxSpeed = devicePrm.maxSpeed>>stepModeShift;
- uint32_t relativePos = devicePrm.relativePos;
- if (devicePrm.updateTorque!=false)
- {
- /* Apply accelerating torque */
- Stspin220_ApplyTorque(RUN_TORQUE);
- }
- if (((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)||\
- ((devicePrm.commandExecuted==MOVE_CMD)&&\
- (relativePos>=(devicePrm.startDecPos)))||\
- ((devicePrm.commandExecuted==RUN_CMD)&&\
- (devicePrm.speed>maxSpeed)))
- {
- devicePrm.motionState = DECELERATING;
- devicePrm.accu = 0;
- /* Apply decelerating torque */
- Stspin220_ApplyTorque(DEC_TORQUE);
- }
- else if ((devicePrm.commandExecuted==RUN_CMD)&&(devicePrm.speed<maxSpeed))
- {
- devicePrm.motionState = ACCELERATING;
- devicePrm.accu = 0;
- /* Apply accelerating torque */
- Stspin220_ApplyTorque(ACC_TORQUE);
- }
- break;
- }
- case DECELERATING:
- {
- uint32_t relativePos = devicePrm.relativePos;
- uint16_t speed = devicePrm.speed;
- uint32_t dec = ((uint32_t)devicePrm.deceleration << 16)>>stepModeShift;
- if ((((devicePrm.commandExecuted&(STSPIN220_SOFT_STOP_BIT_MASK|STSPIN220_DIR_CHANGE_BIT_MASK))!=0)&&\
- (speed<=(devicePrm.minSpeed>>stepModeShift)))||\
- ((devicePrm.commandExecuted==MOVE_CMD)&&(relativePos>=devicePrm.stepsToTake)))
- {
- /* Motion process complete */
- if ((devicePrm.commandExecuted&STSPIN220_DIR_CHANGE_BIT_MASK)!=0)
- {
- devicePrm.commandExecuted=(deviceCommand_t)((~STSPIN220_DIR_CHANGE_BIT_MASK)&devicePrm.commandExecuted);
- if (devicePrm.direction==BACKWARD) devicePrm.direction=FORWARD;
- else devicePrm.direction=BACKWARD;
- Stspin220_Board_SetDirectionGpio(devicePrm.direction);
- if ((devicePrm.commandExecuted&STSPIN220_SOFT_STOP_BIT_MASK)==0)
- {
- devicePrm.motionState = ACCELERATING;
- devicePrm.accu = 0;
- /* Apply accelerating torque */
- Stspin220_ApplyTorque(ACC_TORQUE);
- break;
- }
- }
- if (devicePrm.stopMode==HOLD_MODE)
- {
- Stspin220_HardStop();
- }
- else if (devicePrm.stopMode==STANDBY_MODE)
- {
- Stspin220_PutDeviceInStandby();
- }
- else
- {
- Stspin220_HardHiZ();
- }
- }
- else if ((devicePrm.commandExecuted==RUN_CMD)&&
- (speed<=(devicePrm.maxSpeed>>stepModeShift)))
- {
- devicePrm.motionState = STEADY;
- /* Apply running torque */
- Stspin220_ApplyTorque(RUN_TORQUE);
- }
- else
- {
- /* Go on decelerating */
- if (speed>(devicePrm.minSpeed>>stepModeShift))
- {
- bool speedUpdated = false;
- if (speed==0) speed =1;
- devicePrm.accu += dec / speed;
- while (devicePrm.accu>=(0X10000L))
- {
- devicePrm.accu -= (0X10000L);
- if (speed>1)
- {
- speed -=1;
- }
- speedUpdated = true;
- }
-
- if (speedUpdated)
- {
- if (speed<(devicePrm.minSpeed>>stepModeShift))
- {
- speed = devicePrm.minSpeed>>stepModeShift;
- }
- devicePrm.speed = speed;
- }
-
- if (devicePrm.updateTorque!=false)
- {
- /* Apply decelerating torque */
- Stspin220_ApplyTorque(DEC_TORQUE);
- }
- }
- }
- break;
- }
- default:
- {
- break;
- }
- }
- }
- if ((devicePrm.motionState & INACTIVE) != INACTIVE)
- {
- Stspin220_ApplySpeed(devicePrm.speed);
- }
- else
- {
- if (Stspin220_Board_TimStckStop(&toggleOdd) == 0)
- {
- Stspin220_ErrorHandler(STSPIN220_ERROR_STEP_CLOCK);
- }
- }
- Stspin220_Board_Monitor_Reset();
-}
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- a/Components/stspin220/STSpin220_config.h Fri Mar 24 10:59:19 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,120 +0,0 @@
-/**************************************************************************//**
- * @file STSpin220_config.h
- * @author IPC Rennes
- * @version V1.1.0
- * @date May 26th, 2016
- * @brief Predefines values for the STSpin220 registers
- * and for the devices parameters
- * @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_CONFIG_H
-#define __STSPIN220_CONFIG_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/** @addtogroup STSpin220
- * @{
- */
-
-/** @addtogroup Stspin220_Exported_Constants
- * @{
- */
-
-/** @defgroup Predefined_Stspin220_Registers_Values Predefined Stspin220 Registers Values
- * @{
- */
-
-/************************ Speed Profile *******************************/
-
-/// Acceleration rate in pulse/s2 (must be greater than 0)
-#define STSPIN220_CONF_PARAM_ACC (480)
-
-/// Deceleration rate in pulse/s2 (must be greater than 0)
-#define STSPIN220_CONF_PARAM_DEC (480)
-
-/// Running speed in pulse/s (8 pulse/s < Maximum speed <= 10 000 pulse/s )
-#define STSPIN220_CONF_PARAM_RUNNING_SPEED (1600)
-
-/// Minimum speed in pulse/s (8 pulse/s <= Minimum speed < 10 000 pulse/s)
-#define STSPIN220_CONF_PARAM_MIN_SPEED (400)
-
-/************************ Torque *******************************/
-
-/// Acceleration torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_ACC_TORQUE (20)
-
-/// Deceleration torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_DEC_TORQUE (15)
-
-/// Running torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_RUNNING_TORQUE (10)
-
-/// Holding torque in % (from 0 to 100)
-#define STSPIN220_CONF_PARAM_HOLDING_TORQUE (25)
-
-/// Torque boost speed enable
-#define STSPIN220_CONF_PARAM_TORQUE_BOOST_EN (TRUE)
-
-/// Torque boost speed threshold in fullstep/s
-#define STSPIN220_CONF_PARAM_TORQUE_BOOST_TH (200)
-
-/******************************* Others ***************************************/
-
-/// Step mode selection settings
-#define STSPIN220_CONF_PARAM_STEP_MODE (STEP_MODE_1_32)
-
-/// Automatic HIZ STOP
-#define STSPIN220_CONF_PARAM_AUTO_HIZ_STOP (HOLD_MODE)
-
-/// REF PWM frequency (Hz)
-#define STSPIN220_CONF_PARAM_REF_PWM_FREQUENCY (100000)
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
- }
-#endif
-
-#endif /* __STSPIN220_CONFIG_H */
\ No newline at end of file
--- a/Components/stspin220/STSpin220_def.h Fri Mar 24 10:59:19 2017 +0100
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,344 +0,0 @@
-/******************************************************//**
- * @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.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __STSPIN220_H
-#define __STSPIN220_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "STSpin220_config.h"
-#include "motor_def.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;
-/**
- * @}
- */
-
-/** @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;
-/**
- * @}
- */
-
-/** @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;
-/**
- * @}
- */
-
-/**
- * @}
- */
-
-/* Functions --------------------------------------------------------*/
-
-/** @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);
-/**
- * @}
- */
-
- /**
- * @}
- */
-
-/**
- * @}
- */
-
-#ifdef __cplusplus
- }
-#endif
-
-#endif /* #ifndef __STSPIN220_H */
-
-/******************* (C) COPYRIGHT 2016 STMicroelectronics *****END OF FILE****/
--- a/Components/stspin220/stspin220.h Fri Mar 24 10:59:19 2017 +0100
+++ /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 "HumiditySensor.h" *
- * #include "TemperatureSensor.h" *
- *----------------------------------------------------------------------------*/
-#include "StepperMotor.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 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;
- }
- }
-
- /**
- * @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();
- }
-
- /**
- * @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);
- }
-
- /**
- * @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****/
--- a/ST_INTERFACES.lib Fri Mar 24 10:59:19 2017 +0100 +++ b/ST_INTERFACES.lib Fri Mar 24 13:54:23 2017 +0000 @@ -1,1 +1,1 @@ -https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#8f70f7159316 +https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c
X-NUCLEO-IHM06A1 Low Voltage Stepper Motor Driver