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Components/L6474/L6474.cpp@35:974ca699c792, 2017-03-13 (annotated)

Committer:
Davidroid
Date:
Mon Mar 13 17:45:14 2017 +0000
Revision:
35:974ca699c792
Parent:
Components/l6474/L6474.cpp@33:8daea0279301 
Typo corrected.

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davide.aliprandi@st.com 33:8daea0279301 1 /**
davide.aliprandi@st.com 33:8daea0279301 2 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 3 * @file L6474.cpp
davide.aliprandi@st.com 33:8daea0279301 4 * @author IPC Rennes
davide.aliprandi@st.com 33:8daea0279301 5 * @version V1.5.0
davide.aliprandi@st.com 33:8daea0279301 6 * @date November 12, 2014
davide.aliprandi@st.com 33:8daea0279301 7 * @brief L6474 driver (fully integrated microstepping motor driver)
davide.aliprandi@st.com 33:8daea0279301 8 * @note (C) COPYRIGHT 2014 STMicroelectronics
davide.aliprandi@st.com 33:8daea0279301 9 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 10 * @attention
davide.aliprandi@st.com 33:8daea0279301 11 *
davide.aliprandi@st.com 33:8daea0279301 12 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
davide.aliprandi@st.com 33:8daea0279301 13 *
davide.aliprandi@st.com 33:8daea0279301 14 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 33:8daea0279301 15 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 33:8daea0279301 16 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 33:8daea0279301 17 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 33:8daea0279301 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 33:8daea0279301 19 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 33:8daea0279301 20 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 33:8daea0279301 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 33:8daea0279301 22 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 33:8daea0279301 23 * without specific prior written permission.
davide.aliprandi@st.com 33:8daea0279301 24 *
davide.aliprandi@st.com 33:8daea0279301 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 33:8daea0279301 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 33:8daea0279301 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 33:8daea0279301 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 33:8daea0279301 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 33:8daea0279301 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 33:8daea0279301 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 33:8daea0279301 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 33:8daea0279301 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 33:8daea0279301 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 33:8daea0279301 35 *
davide.aliprandi@st.com 33:8daea0279301 36 ******************************************************************************
davide.aliprandi@st.com 33:8daea0279301 37 */
davide.aliprandi@st.com 33:8daea0279301 38
davide.aliprandi@st.com 33:8daea0279301 39
davide.aliprandi@st.com 33:8daea0279301 40 /* Generated with STM32CubeTOO -----------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 41
davide.aliprandi@st.com 33:8daea0279301 42
davide.aliprandi@st.com 33:8daea0279301 43 /* Revision ------------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 44 /*
davide.aliprandi@st.com 33:8daea0279301 45 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
davide.aliprandi@st.com 33:8daea0279301 46 Branch/Trunk/Tag: trunk
davide.aliprandi@st.com 33:8daea0279301 47 Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.c
davide.aliprandi@st.com 33:8daea0279301 48 Revision: 0
davide.aliprandi@st.com 33:8daea0279301 49 */
davide.aliprandi@st.com 33:8daea0279301 50
davide.aliprandi@st.com 33:8daea0279301 51
davide.aliprandi@st.com 33:8daea0279301 52 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 53
davide.aliprandi@st.com 33:8daea0279301 54 #include "L6474.h"
davide.aliprandi@st.com 33:8daea0279301 55
davide.aliprandi@st.com 33:8daea0279301 56
davide.aliprandi@st.com 33:8daea0279301 57 /* Definitions ---------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 58
davide.aliprandi@st.com 33:8daea0279301 59 /* Error while initialising the SPI. */
davide.aliprandi@st.com 33:8daea0279301 60 #define L6474_ERROR_0 (0x8000)
davide.aliprandi@st.com 33:8daea0279301 61
davide.aliprandi@st.com 33:8daea0279301 62 /* Error of bad SPI transaction. */
davide.aliprandi@st.com 33:8daea0279301 63 #define L6474_ERROR_1 (0x8001)
davide.aliprandi@st.com 33:8daea0279301 64
davide.aliprandi@st.com 33:8daea0279301 65 /* Maximum number of steps. */
davide.aliprandi@st.com 33:8daea0279301 66 #define MAX_STEPS (0x7FFFFFFF)
davide.aliprandi@st.com 33:8daea0279301 67
davide.aliprandi@st.com 33:8daea0279301 68 /* Maximum frequency of the PWMs in Hz. */
davide.aliprandi@st.com 33:8daea0279301 69 #define L6474_MAX_PWM_FREQ (10000)
davide.aliprandi@st.com 33:8daea0279301 70
davide.aliprandi@st.com 33:8daea0279301 71 /* Minimum frequency of the PWMs in Hz. */
davide.aliprandi@st.com 33:8daea0279301 72 #define L6474_MIN_PWM_FREQ (2)
davide.aliprandi@st.com 33:8daea0279301 73
davide.aliprandi@st.com 33:8daea0279301 74
davide.aliprandi@st.com 33:8daea0279301 75 /* Variables ----------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 76
davide.aliprandi@st.com 33:8daea0279301 77 /* Number of devices. */
davide.aliprandi@st.com 33:8daea0279301 78 uint8_t L6474::number_of_devices = 0;
davide.aliprandi@st.com 33:8daea0279301 79
davide.aliprandi@st.com 33:8daea0279301 80 /* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
davide.aliprandi@st.com 33:8daea0279301 81 bool L6474::spi_preemtion_by_isr = FALSE;
davide.aliprandi@st.com 33:8daea0279301 82 bool L6474::isr_flag = FALSE;
davide.aliprandi@st.com 33:8daea0279301 83
davide.aliprandi@st.com 33:8daea0279301 84 /* SPI Transmission for Daisy-Chain Configuration. */
davide.aliprandi@st.com 33:8daea0279301 85 uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 33:8daea0279301 86 uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 33:8daea0279301 87
davide.aliprandi@st.com 33:8daea0279301 88
davide.aliprandi@st.com 33:8daea0279301 89 /* Methods -------------------------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 90
davide.aliprandi@st.com 33:8daea0279301 91 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 92 * @brief Attaches a user callback to the error Handler.
davide.aliprandi@st.com 33:8daea0279301 93 * The call back will be then called each time the library
davide.aliprandi@st.com 33:8daea0279301 94 * detects an error
davide.aliprandi@st.com 33:8daea0279301 95 * @param[in] callback Name of the callback to attach
davide.aliprandi@st.com 33:8daea0279301 96 * to the error Hanlder
davide.aliprandi@st.com 33:8daea0279301 97 * @retval None
davide.aliprandi@st.com 33:8daea0279301 98 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 99 void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
davide.aliprandi@st.com 33:8daea0279301 100 {
davide.aliprandi@st.com 33:8daea0279301 101 error_handler_callback = (void (*)(uint16_t error)) callback;
davide.aliprandi@st.com 33:8daea0279301 102 }
davide.aliprandi@st.com 33:8daea0279301 103
davide.aliprandi@st.com 33:8daea0279301 104 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 105 * @brief Starts the L6474 library
davide.aliprandi@st.com 33:8daea0279301 106 * @param init Initialization structure.
davide.aliprandi@st.com 33:8daea0279301 107 * @retval COMPONENT_OK in case of success.
davide.aliprandi@st.com 33:8daea0279301 108 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 109 status_t L6474::L6474_Init(void *init)
davide.aliprandi@st.com 33:8daea0279301 110 {
davide.aliprandi@st.com 33:8daea0279301 111 /* Initialise the PWMs used for the Step clocks ----------------------------*/
davide.aliprandi@st.com 33:8daea0279301 112 L6474_PwmInit();
davide.aliprandi@st.com 33:8daea0279301 113
davide.aliprandi@st.com 33:8daea0279301 114 /* Initialise the L6474s ------------------------------------------------*/
davide.aliprandi@st.com 33:8daea0279301 115
davide.aliprandi@st.com 33:8daea0279301 116 /* Standby-reset deactivation */
davide.aliprandi@st.com 33:8daea0279301 117 L6474_ReleaseReset();
davide.aliprandi@st.com 33:8daea0279301 118
davide.aliprandi@st.com 33:8daea0279301 119 /* Let a delay after reset */
davide.aliprandi@st.com 33:8daea0279301 120 L6474_Delay(1);
davide.aliprandi@st.com 33:8daea0279301 121
davide.aliprandi@st.com 33:8daea0279301 122 /* Set device parameters to the predefined values from "l6474_target_config.h". */
davide.aliprandi@st.com 33:8daea0279301 123 L6474_SetDeviceParamsToPredefinedValues();
davide.aliprandi@st.com 33:8daea0279301 124
davide.aliprandi@st.com 33:8daea0279301 125 if (init == NULL)
davide.aliprandi@st.com 33:8daea0279301 126 /* Set device registers to the predefined values from "l6474_target_config.h". */
davide.aliprandi@st.com 33:8daea0279301 127 L6474_SetRegisterToPredefinedValues();
davide.aliprandi@st.com 33:8daea0279301 128 else
davide.aliprandi@st.com 33:8daea0279301 129 /* Set device registers to the passed initialization values. */
davide.aliprandi@st.com 33:8daea0279301 130 L6474_SetRegisterToInitializationValues((L6474_init_t *) init);
davide.aliprandi@st.com 33:8daea0279301 131
davide.aliprandi@st.com 33:8daea0279301 132 /* Disable L6474 powerstage */
davide.aliprandi@st.com 33:8daea0279301 133 L6474_CmdDisable();
davide.aliprandi@st.com 33:8daea0279301 134
davide.aliprandi@st.com 33:8daea0279301 135 /* Get Status to clear flags after start up */
davide.aliprandi@st.com 33:8daea0279301 136 L6474_CmdGetStatus();
davide.aliprandi@st.com 33:8daea0279301 137
davide.aliprandi@st.com 33:8daea0279301 138 return COMPONENT_OK;
davide.aliprandi@st.com 33:8daea0279301 139 }
davide.aliprandi@st.com 33:8daea0279301 140
davide.aliprandi@st.com 33:8daea0279301 141 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 142 * @brief Read id
davide.aliprandi@st.com 33:8daea0279301 143 * @param id pointer to the identifier to be read.
davide.aliprandi@st.com 33:8daea0279301 144 * @retval COMPONENT_OK in case of success.
davide.aliprandi@st.com 33:8daea0279301 145 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 146 status_t L6474::L6474_ReadID(uint8_t *id)
davide.aliprandi@st.com 33:8daea0279301 147 {
davide.aliprandi@st.com 33:8daea0279301 148 *id = device_instance;
davide.aliprandi@st.com 33:8daea0279301 149
davide.aliprandi@st.com 33:8daea0279301 150 return COMPONENT_OK;
davide.aliprandi@st.com 33:8daea0279301 151 }
davide.aliprandi@st.com 33:8daea0279301 152
davide.aliprandi@st.com 33:8daea0279301 153 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 154 * @brief Returns the acceleration of the specified device
davide.aliprandi@st.com 33:8daea0279301 155 * @retval Acceleration in pps^2
davide.aliprandi@st.com 33:8daea0279301 156 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 157 uint16_t L6474::L6474_GetAcceleration(void)
davide.aliprandi@st.com 33:8daea0279301 158 {
davide.aliprandi@st.com 33:8daea0279301 159 return (device_prm.acceleration);
davide.aliprandi@st.com 33:8daea0279301 160 }
davide.aliprandi@st.com 33:8daea0279301 161
davide.aliprandi@st.com 33:8daea0279301 162 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 163 * @brief Returns the current speed of the specified device
davide.aliprandi@st.com 33:8daea0279301 164 * @retval Speed in pps
davide.aliprandi@st.com 33:8daea0279301 165 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 166 uint16_t L6474::L6474_GetCurrentSpeed(void)
davide.aliprandi@st.com 33:8daea0279301 167 {
davide.aliprandi@st.com 33:8daea0279301 168 return device_prm.speed;
davide.aliprandi@st.com 33:8daea0279301 169 }
davide.aliprandi@st.com 33:8daea0279301 170
davide.aliprandi@st.com 33:8daea0279301 171 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 172 * @brief Returns the deceleration of the specified device
davide.aliprandi@st.com 33:8daea0279301 173 * @retval Deceleration in pps^2
davide.aliprandi@st.com 33:8daea0279301 174 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 175 uint16_t L6474::L6474_GetDeceleration(void)
davide.aliprandi@st.com 33:8daea0279301 176 {
davide.aliprandi@st.com 33:8daea0279301 177 return (device_prm.deceleration);
davide.aliprandi@st.com 33:8daea0279301 178 }
davide.aliprandi@st.com 33:8daea0279301 179
davide.aliprandi@st.com 33:8daea0279301 180 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 181 * @brief Returns the device state
davide.aliprandi@st.com 33:8daea0279301 182 * @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 183 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 184 motorState_t L6474::L6474_GetDeviceState(void)
davide.aliprandi@st.com 33:8daea0279301 185 {
davide.aliprandi@st.com 33:8daea0279301 186 return device_prm.motionState;
davide.aliprandi@st.com 33:8daea0279301 187 }
davide.aliprandi@st.com 33:8daea0279301 188
davide.aliprandi@st.com 33:8daea0279301 189 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 190 * @brief Returns the FW version of the library
davide.aliprandi@st.com 33:8daea0279301 191 * @param None
davide.aliprandi@st.com 33:8daea0279301 192 * @retval L6474_FW_VERSION
davide.aliprandi@st.com 33:8daea0279301 193 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 194 uint8_t L6474::L6474_GetFwVersion(void)
davide.aliprandi@st.com 33:8daea0279301 195 {
davide.aliprandi@st.com 33:8daea0279301 196 return (L6474_FW_VERSION);
davide.aliprandi@st.com 33:8daea0279301 197 }
davide.aliprandi@st.com 33:8daea0279301 198
davide.aliprandi@st.com 33:8daea0279301 199 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 200 * @brief Returns the mark position of the specified device
davide.aliprandi@st.com 33:8daea0279301 201 * @retval Mark register value converted in a 32b signed integer
davide.aliprandi@st.com 33:8daea0279301 202 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 203 int32_t L6474::L6474_GetMark(void)
davide.aliprandi@st.com 33:8daea0279301 204 {
davide.aliprandi@st.com 33:8daea0279301 205 return L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
davide.aliprandi@st.com 33:8daea0279301 206 }
davide.aliprandi@st.com 33:8daea0279301 207
davide.aliprandi@st.com 33:8daea0279301 208 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 209 * @brief Returns the max speed of the specified device
davide.aliprandi@st.com 33:8daea0279301 210 * @retval maxSpeed in pps
davide.aliprandi@st.com 33:8daea0279301 211 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 212 uint16_t L6474::L6474_GetMaxSpeed(void)
davide.aliprandi@st.com 33:8daea0279301 213 {
davide.aliprandi@st.com 33:8daea0279301 214 return (device_prm.maxSpeed);
davide.aliprandi@st.com 33:8daea0279301 215 }
davide.aliprandi@st.com 33:8daea0279301 216
davide.aliprandi@st.com 33:8daea0279301 217 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 218 * @brief Returns the min speed of the specified device
davide.aliprandi@st.com 33:8daea0279301 219 * @retval minSpeed in pps
davide.aliprandi@st.com 33:8daea0279301 220 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 221 uint16_t L6474::L6474_GetMinSpeed(void)
davide.aliprandi@st.com 33:8daea0279301 222 {
davide.aliprandi@st.com 33:8daea0279301 223 return (device_prm.minSpeed);
davide.aliprandi@st.com 33:8daea0279301 224 }
davide.aliprandi@st.com 33:8daea0279301 225
davide.aliprandi@st.com 33:8daea0279301 226 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 227 * @brief Returns the ABS_POSITION of the specified device
davide.aliprandi@st.com 33:8daea0279301 228 * @retval ABS_POSITION register value converted in a 32b signed integer
davide.aliprandi@st.com 33:8daea0279301 229 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 230 int32_t L6474::L6474_GetPosition(void)
davide.aliprandi@st.com 33:8daea0279301 231 {
davide.aliprandi@st.com 33:8daea0279301 232 return L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
davide.aliprandi@st.com 33:8daea0279301 233 }
davide.aliprandi@st.com 33:8daea0279301 234
davide.aliprandi@st.com 33:8daea0279301 235 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 236 * @brief Requests the motor to move to the home position (ABS_POSITION = 0)
davide.aliprandi@st.com 33:8daea0279301 237 * @retval None
davide.aliprandi@st.com 33:8daea0279301 238 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 239 void L6474::L6474_GoHome(void)
davide.aliprandi@st.com 33:8daea0279301 240 {
davide.aliprandi@st.com 33:8daea0279301 241 L6474_GoTo(0);
davide.aliprandi@st.com 33:8daea0279301 242 }
davide.aliprandi@st.com 33:8daea0279301 243
davide.aliprandi@st.com 33:8daea0279301 244 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 245 * @brief Requests the motor to move to the mark position
davide.aliprandi@st.com 33:8daea0279301 246 * @retval None
davide.aliprandi@st.com 33:8daea0279301 247 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 248 void L6474::L6474_GoMark(void)
davide.aliprandi@st.com 33:8daea0279301 249 {
davide.aliprandi@st.com 33:8daea0279301 250 uint32_t mark;
davide.aliprandi@st.com 33:8daea0279301 251
davide.aliprandi@st.com 33:8daea0279301 252 mark = L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
davide.aliprandi@st.com 33:8daea0279301 253 L6474_GoTo(mark);
davide.aliprandi@st.com 33:8daea0279301 254 }
davide.aliprandi@st.com 33:8daea0279301 255
davide.aliprandi@st.com 33:8daea0279301 256 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 257 * @brief Requests the motor to move to the specified position
davide.aliprandi@st.com 33:8daea0279301 258 * @param[in] targetPosition absolute position in steps
davide.aliprandi@st.com 33:8daea0279301 259 * @retval None
davide.aliprandi@st.com 33:8daea0279301 260 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 261 void L6474::L6474_GoTo(int32_t targetPosition)
davide.aliprandi@st.com 33:8daea0279301 262 {
davide.aliprandi@st.com 33:8daea0279301 263 motorDir_t direction;
davide.aliprandi@st.com 33:8daea0279301 264 int32_t steps;
davide.aliprandi@st.com 33:8daea0279301 265
davide.aliprandi@st.com 33:8daea0279301 266 /* Eventually deactivate motor */
davide.aliprandi@st.com 33:8daea0279301 267 if (device_prm.motionState != INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 268 {
davide.aliprandi@st.com 33:8daea0279301 269 L6474_HardStop();
davide.aliprandi@st.com 33:8daea0279301 270 }
davide.aliprandi@st.com 33:8daea0279301 271
davide.aliprandi@st.com 33:8daea0279301 272 /* Get current position */
davide.aliprandi@st.com 33:8daea0279301 273 device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
davide.aliprandi@st.com 33:8daea0279301 274
davide.aliprandi@st.com 33:8daea0279301 275 /* Compute the number of steps to perform */
davide.aliprandi@st.com 33:8daea0279301 276 steps = targetPosition - device_prm.currentPosition;
davide.aliprandi@st.com 33:8daea0279301 277
davide.aliprandi@st.com 33:8daea0279301 278 if (steps >= 0)
davide.aliprandi@st.com 33:8daea0279301 279 {
davide.aliprandi@st.com 33:8daea0279301 280 device_prm.stepsToTake = steps;
davide.aliprandi@st.com 33:8daea0279301 281 direction = FORWARD;
davide.aliprandi@st.com 33:8daea0279301 282 }
davide.aliprandi@st.com 33:8daea0279301 283 else
davide.aliprandi@st.com 33:8daea0279301 284 {
davide.aliprandi@st.com 33:8daea0279301 285 device_prm.stepsToTake = -steps;
davide.aliprandi@st.com 33:8daea0279301 286 direction = BACKWARD;
davide.aliprandi@st.com 33:8daea0279301 287 }
davide.aliprandi@st.com 33:8daea0279301 288
davide.aliprandi@st.com 33:8daea0279301 289 if (steps != 0)
davide.aliprandi@st.com 33:8daea0279301 290 {
davide.aliprandi@st.com 33:8daea0279301 291 device_prm.commandExecuted = MOVE_CMD;
davide.aliprandi@st.com 33:8daea0279301 292
davide.aliprandi@st.com 33:8daea0279301 293 /* Direction setup */
davide.aliprandi@st.com 33:8daea0279301 294 L6474_SetDirection(direction);
davide.aliprandi@st.com 33:8daea0279301 295
davide.aliprandi@st.com 33:8daea0279301 296 L6474_ComputeSpeedProfile(device_prm.stepsToTake);
davide.aliprandi@st.com 33:8daea0279301 297
davide.aliprandi@st.com 33:8daea0279301 298 /* Motor activation */
davide.aliprandi@st.com 33:8daea0279301 299 L6474_StartMovement();
davide.aliprandi@st.com 33:8daea0279301 300 }
davide.aliprandi@st.com 33:8daea0279301 301 }
davide.aliprandi@st.com 33:8daea0279301 302
davide.aliprandi@st.com 33:8daea0279301 303 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 304 * @brief Immediatly stops the motor and disable the power bridge
davide.aliprandi@st.com 33:8daea0279301 305 * @retval None
davide.aliprandi@st.com 33:8daea0279301 306 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 307 void L6474::L6474_HardStop(void)
davide.aliprandi@st.com 33:8daea0279301 308 {
davide.aliprandi@st.com 33:8daea0279301 309 /* Disable corresponding PWM */
davide.aliprandi@st.com 33:8daea0279301 310 L6474_PwmStop();
davide.aliprandi@st.com 33:8daea0279301 311
davide.aliprandi@st.com 33:8daea0279301 312 /* Set inactive state */
davide.aliprandi@st.com 33:8daea0279301 313 device_prm.motionState = INACTIVE;
davide.aliprandi@st.com 33:8daea0279301 314 device_prm.commandExecuted = NO_CMD;
davide.aliprandi@st.com 33:8daea0279301 315 device_prm.stepsToTake = MAX_STEPS;
davide.aliprandi@st.com 33:8daea0279301 316 }
davide.aliprandi@st.com 33:8daea0279301 317
davide.aliprandi@st.com 33:8daea0279301 318 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 319 * @brief Moves the motor of the specified number of steps
davide.aliprandi@st.com 33:8daea0279301 320 * @param[in] direction FORWARD or BACKWARD
davide.aliprandi@st.com 33:8daea0279301 321 * @param[in] stepCount Number of steps to perform
davide.aliprandi@st.com 33:8daea0279301 322 * @retval None
davide.aliprandi@st.com 33:8daea0279301 323 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 324 void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
davide.aliprandi@st.com 33:8daea0279301 325 {
davide.aliprandi@st.com 33:8daea0279301 326 /* Eventually deactivate motor */
davide.aliprandi@st.com 33:8daea0279301 327 if (device_prm.motionState != INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 328 {
davide.aliprandi@st.com 33:8daea0279301 329 L6474_HardStop();
davide.aliprandi@st.com 33:8daea0279301 330 }
davide.aliprandi@st.com 33:8daea0279301 331
davide.aliprandi@st.com 33:8daea0279301 332 if (stepCount != 0)
davide.aliprandi@st.com 33:8daea0279301 333 {
davide.aliprandi@st.com 33:8daea0279301 334 device_prm.stepsToTake = stepCount;
davide.aliprandi@st.com 33:8daea0279301 335
davide.aliprandi@st.com 33:8daea0279301 336 device_prm.commandExecuted = MOVE_CMD;
davide.aliprandi@st.com 33:8daea0279301 337
davide.aliprandi@st.com 33:8daea0279301 338 device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
davide.aliprandi@st.com 33:8daea0279301 339
davide.aliprandi@st.com 33:8daea0279301 340 /* Direction setup */
davide.aliprandi@st.com 33:8daea0279301 341 L6474_SetDirection(direction);
davide.aliprandi@st.com 33:8daea0279301 342
davide.aliprandi@st.com 33:8daea0279301 343 L6474_ComputeSpeedProfile(stepCount);
davide.aliprandi@st.com 33:8daea0279301 344
davide.aliprandi@st.com 33:8daea0279301 345 /* Motor activation */
davide.aliprandi@st.com 33:8daea0279301 346 L6474_StartMovement();
davide.aliprandi@st.com 33:8daea0279301 347 }
davide.aliprandi@st.com 33:8daea0279301 348 }
davide.aliprandi@st.com 33:8daea0279301 349
davide.aliprandi@st.com 33:8daea0279301 350 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 351 * @brief Runs the motor. It will accelerate from the min
davide.aliprandi@st.com 33:8daea0279301 352 * speed up to the max speed by using the device acceleration.
davide.aliprandi@st.com 33:8daea0279301 353 * @param[in] direction FORWARD or BACKWARD
davide.aliprandi@st.com 33:8daea0279301 354 * @retval None
davide.aliprandi@st.com 33:8daea0279301 355 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 356 void L6474::L6474_Run(motorDir_t direction)
davide.aliprandi@st.com 33:8daea0279301 357 {
davide.aliprandi@st.com 33:8daea0279301 358 /* Eventually deactivate motor */
davide.aliprandi@st.com 33:8daea0279301 359 if (device_prm.motionState != INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 360 {
davide.aliprandi@st.com 33:8daea0279301 361 L6474_HardStop();
davide.aliprandi@st.com 33:8daea0279301 362 }
davide.aliprandi@st.com 33:8daea0279301 363
davide.aliprandi@st.com 33:8daea0279301 364 /* Direction setup */
davide.aliprandi@st.com 33:8daea0279301 365 L6474_SetDirection(direction);
davide.aliprandi@st.com 33:8daea0279301 366
davide.aliprandi@st.com 33:8daea0279301 367 device_prm.commandExecuted = RUN_CMD;
davide.aliprandi@st.com 33:8daea0279301 368
davide.aliprandi@st.com 33:8daea0279301 369 /* Motor activation */
davide.aliprandi@st.com 33:8daea0279301 370 L6474_StartMovement();
davide.aliprandi@st.com 33:8daea0279301 371 }
davide.aliprandi@st.com 33:8daea0279301 372
davide.aliprandi@st.com 33:8daea0279301 373 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 374 * @brief Changes the acceleration of the specified device
davide.aliprandi@st.com 33:8daea0279301 375 * @param[in] newAcc New acceleration to apply in pps^2
davide.aliprandi@st.com 33:8daea0279301 376 * @retval true if the command is successfully executed, else false
davide.aliprandi@st.com 33:8daea0279301 377 * @note The command is not performed is the device is executing
davide.aliprandi@st.com 33:8daea0279301 378 * a MOVE or GOTO command (but it can be used during a RUN command)
davide.aliprandi@st.com 33:8daea0279301 379 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 380 bool L6474::L6474_SetAcceleration(uint16_t newAcc)
davide.aliprandi@st.com 33:8daea0279301 381 {
davide.aliprandi@st.com 33:8daea0279301 382 bool cmdExecuted = FALSE;
davide.aliprandi@st.com 33:8daea0279301 383 if ((newAcc != 0)&&
davide.aliprandi@st.com 33:8daea0279301 384 ((device_prm.motionState == INACTIVE)||
davide.aliprandi@st.com 33:8daea0279301 385 (device_prm.commandExecuted == RUN_CMD)))
davide.aliprandi@st.com 33:8daea0279301 386 {
davide.aliprandi@st.com 33:8daea0279301 387 device_prm.acceleration = newAcc;
davide.aliprandi@st.com 33:8daea0279301 388 cmdExecuted = TRUE;
davide.aliprandi@st.com 33:8daea0279301 389 }
davide.aliprandi@st.com 33:8daea0279301 390 return cmdExecuted;
davide.aliprandi@st.com 33:8daea0279301 391 }
davide.aliprandi@st.com 33:8daea0279301 392
davide.aliprandi@st.com 33:8daea0279301 393 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 394 * @brief Changes the deceleration of the specified device
davide.aliprandi@st.com 33:8daea0279301 395 * @param[in] newDec New deceleration to apply in pps^2
davide.aliprandi@st.com 33:8daea0279301 396 * @retval true if the command is successfully executed, else false
davide.aliprandi@st.com 33:8daea0279301 397 * @note The command is not performed is the device is executing
davide.aliprandi@st.com 33:8daea0279301 398 * a MOVE or GOTO command (but it can be used during a RUN command)
davide.aliprandi@st.com 33:8daea0279301 399 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 400 bool L6474::L6474_SetDeceleration(uint16_t newDec)
davide.aliprandi@st.com 33:8daea0279301 401 {
davide.aliprandi@st.com 33:8daea0279301 402 bool cmdExecuted = FALSE;
davide.aliprandi@st.com 33:8daea0279301 403 if ((newDec != 0)&&
davide.aliprandi@st.com 33:8daea0279301 404 ((device_prm.motionState == INACTIVE)||
davide.aliprandi@st.com 33:8daea0279301 405 (device_prm.commandExecuted == RUN_CMD)))
davide.aliprandi@st.com 33:8daea0279301 406 {
davide.aliprandi@st.com 33:8daea0279301 407 device_prm.deceleration = newDec;
davide.aliprandi@st.com 33:8daea0279301 408 cmdExecuted = TRUE;
davide.aliprandi@st.com 33:8daea0279301 409 }
davide.aliprandi@st.com 33:8daea0279301 410 return cmdExecuted;
davide.aliprandi@st.com 33:8daea0279301 411 }
davide.aliprandi@st.com 33:8daea0279301 412
davide.aliprandi@st.com 33:8daea0279301 413 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 414 * @brief Set current position to be the Home position (ABS pos set to 0)
davide.aliprandi@st.com 33:8daea0279301 415 * @retval None
davide.aliprandi@st.com 33:8daea0279301 416 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 417 void L6474::L6474_SetHome(void)
davide.aliprandi@st.com 33:8daea0279301 418 {
davide.aliprandi@st.com 33:8daea0279301 419 L6474_CmdSetParam(L6474_ABS_POS, 0);
davide.aliprandi@st.com 33:8daea0279301 420 }
davide.aliprandi@st.com 33:8daea0279301 421
davide.aliprandi@st.com 33:8daea0279301 422 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 423 * @brief Sets current position to be the Mark position
davide.aliprandi@st.com 33:8daea0279301 424 * @retval None
davide.aliprandi@st.com 33:8daea0279301 425 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 426 void L6474::L6474_SetMark(void)
davide.aliprandi@st.com 33:8daea0279301 427 {
davide.aliprandi@st.com 33:8daea0279301 428 uint32_t mark = L6474_CmdGetParam(L6474_ABS_POS);
davide.aliprandi@st.com 33:8daea0279301 429 L6474_CmdSetParam(L6474_MARK, mark);
davide.aliprandi@st.com 33:8daea0279301 430 }
davide.aliprandi@st.com 33:8daea0279301 431
davide.aliprandi@st.com 33:8daea0279301 432 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 433 * @brief Changes the max speed of the specified device
davide.aliprandi@st.com 33:8daea0279301 434 * @param[in] newMaxSpeed New max speed to apply in pps
davide.aliprandi@st.com 33:8daea0279301 435 * @retval true if the command is successfully executed, else false
davide.aliprandi@st.com 33:8daea0279301 436 * @note The command is not performed is the device is executing
davide.aliprandi@st.com 33:8daea0279301 437 * a MOVE or GOTO command (but it can be used during a RUN command).
davide.aliprandi@st.com 33:8daea0279301 438 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 439 bool L6474::L6474_SetMaxSpeed(uint16_t newMaxSpeed)
davide.aliprandi@st.com 33:8daea0279301 440 {
davide.aliprandi@st.com 33:8daea0279301 441 bool cmdExecuted = FALSE;
davide.aliprandi@st.com 33:8daea0279301 442 if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
davide.aliprandi@st.com 33:8daea0279301 443 (newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
davide.aliprandi@st.com 33:8daea0279301 444 (device_prm.minSpeed <= newMaxSpeed) &&
davide.aliprandi@st.com 33:8daea0279301 445 ((device_prm.motionState == INACTIVE)||
davide.aliprandi@st.com 33:8daea0279301 446 (device_prm.commandExecuted == RUN_CMD)))
davide.aliprandi@st.com 33:8daea0279301 447 {
davide.aliprandi@st.com 33:8daea0279301 448 device_prm.maxSpeed = newMaxSpeed;
davide.aliprandi@st.com 33:8daea0279301 449 cmdExecuted = TRUE;
davide.aliprandi@st.com 33:8daea0279301 450 }
davide.aliprandi@st.com 33:8daea0279301 451 return cmdExecuted;
davide.aliprandi@st.com 33:8daea0279301 452 }
davide.aliprandi@st.com 33:8daea0279301 453
davide.aliprandi@st.com 33:8daea0279301 454 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 455 * @brief Changes the min speed of the specified device
davide.aliprandi@st.com 33:8daea0279301 456 * @param[in] newMinSpeed New min speed to apply in pps
davide.aliprandi@st.com 33:8daea0279301 457 * @retval true if the command is successfully executed, else false
davide.aliprandi@st.com 33:8daea0279301 458 * @note The command is not performed is the device is executing
davide.aliprandi@st.com 33:8daea0279301 459 * a MOVE or GOTO command (but it can be used during a RUN command).
davide.aliprandi@st.com 33:8daea0279301 460 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 461 bool L6474::L6474_SetMinSpeed(uint16_t newMinSpeed)
davide.aliprandi@st.com 33:8daea0279301 462 {
davide.aliprandi@st.com 33:8daea0279301 463 bool cmdExecuted = FALSE;
davide.aliprandi@st.com 33:8daea0279301 464 if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
davide.aliprandi@st.com 33:8daea0279301 465 (newMinSpeed <= L6474_MAX_PWM_FREQ) &&
davide.aliprandi@st.com 33:8daea0279301 466 (newMinSpeed <= device_prm.maxSpeed) &&
davide.aliprandi@st.com 33:8daea0279301 467 ((device_prm.motionState == INACTIVE)||
davide.aliprandi@st.com 33:8daea0279301 468 (device_prm.commandExecuted == RUN_CMD)))
davide.aliprandi@st.com 33:8daea0279301 469 {
davide.aliprandi@st.com 33:8daea0279301 470 device_prm.minSpeed = newMinSpeed;
davide.aliprandi@st.com 33:8daea0279301 471 cmdExecuted = TRUE;
davide.aliprandi@st.com 33:8daea0279301 472 }
davide.aliprandi@st.com 33:8daea0279301 473 return cmdExecuted;
davide.aliprandi@st.com 33:8daea0279301 474 }
davide.aliprandi@st.com 33:8daea0279301 475
davide.aliprandi@st.com 33:8daea0279301 476 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 477 * @brief Stops the motor by using the device deceleration
davide.aliprandi@st.com 33:8daea0279301 478 * @retval true if the command is successfully executed, else false
davide.aliprandi@st.com 33:8daea0279301 479 * @note The command is not performed is the device is in INACTIVE state.
davide.aliprandi@st.com 33:8daea0279301 480 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 481 bool L6474::L6474_SoftStop(void)
davide.aliprandi@st.com 33:8daea0279301 482 {
davide.aliprandi@st.com 33:8daea0279301 483 bool cmdExecuted = FALSE;
davide.aliprandi@st.com 33:8daea0279301 484 if (device_prm.motionState != INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 485 {
davide.aliprandi@st.com 33:8daea0279301 486 device_prm.commandExecuted = SOFT_STOP_CMD;
davide.aliprandi@st.com 33:8daea0279301 487 cmdExecuted = TRUE;
davide.aliprandi@st.com 33:8daea0279301 488 }
davide.aliprandi@st.com 33:8daea0279301 489 return (cmdExecuted);
davide.aliprandi@st.com 33:8daea0279301 490 }
davide.aliprandi@st.com 33:8daea0279301 491
davide.aliprandi@st.com 33:8daea0279301 492 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 493 * @brief Locks until the device state becomes Inactive
davide.aliprandi@st.com 33:8daea0279301 494 * @retval None
davide.aliprandi@st.com 33:8daea0279301 495 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 496 void L6474::L6474_WaitWhileActive(void)
davide.aliprandi@st.com 33:8daea0279301 497 {
davide.aliprandi@st.com 33:8daea0279301 498 /* Wait while motor is running */
davide.aliprandi@st.com 33:8daea0279301 499 while (L6474_GetDeviceState() != INACTIVE);
davide.aliprandi@st.com 33:8daea0279301 500 }
davide.aliprandi@st.com 33:8daea0279301 501
davide.aliprandi@st.com 33:8daea0279301 502 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 503 * @brief Issue the Disable command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 504 * @retval None
davide.aliprandi@st.com 33:8daea0279301 505 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 506 void L6474::L6474_CmdDisable(void)
davide.aliprandi@st.com 33:8daea0279301 507 {
davide.aliprandi@st.com 33:8daea0279301 508 L6474_SendCommand(L6474_DISABLE);
davide.aliprandi@st.com 33:8daea0279301 509 }
davide.aliprandi@st.com 33:8daea0279301 510
davide.aliprandi@st.com 33:8daea0279301 511 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 512 * @brief Issues the Enable command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 513 * @retval None
davide.aliprandi@st.com 33:8daea0279301 514 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 515 void L6474::L6474_CmdEnable(void)
davide.aliprandi@st.com 33:8daea0279301 516 {
davide.aliprandi@st.com 33:8daea0279301 517 L6474_SendCommand(L6474_ENABLE);
davide.aliprandi@st.com 33:8daea0279301 518 }
davide.aliprandi@st.com 33:8daea0279301 519
davide.aliprandi@st.com 33:8daea0279301 520 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 521 * @brief Issues the GetParam command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 522 * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
davide.aliprandi@st.com 33:8daea0279301 523 * @retval Register value
davide.aliprandi@st.com 33:8daea0279301 524 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 525 uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
davide.aliprandi@st.com 33:8daea0279301 526 {
davide.aliprandi@st.com 33:8daea0279301 527 uint32_t i;
davide.aliprandi@st.com 33:8daea0279301 528 uint32_t spiRxData;
davide.aliprandi@st.com 33:8daea0279301 529 uint8_t maxArgumentNbBytes = 0;
davide.aliprandi@st.com 33:8daea0279301 530 uint8_t spiIndex = number_of_devices - device_instance - 1;
davide.aliprandi@st.com 33:8daea0279301 531 bool itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 532
davide.aliprandi@st.com 33:8daea0279301 533 do
davide.aliprandi@st.com 33:8daea0279301 534 {
davide.aliprandi@st.com 33:8daea0279301 535 spi_preemtion_by_isr = FALSE;
davide.aliprandi@st.com 33:8daea0279301 536 if (itDisable)
davide.aliprandi@st.com 33:8daea0279301 537 {
davide.aliprandi@st.com 33:8daea0279301 538 /* re-enable L6474_EnableIrq if disable in previous iteration */
davide.aliprandi@st.com 33:8daea0279301 539 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 540 itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 541 }
davide.aliprandi@st.com 33:8daea0279301 542
davide.aliprandi@st.com 33:8daea0279301 543 for (i = 0; i < number_of_devices; i++)
davide.aliprandi@st.com 33:8daea0279301 544 {
davide.aliprandi@st.com 33:8daea0279301 545 spi_tx_bursts[0][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 546 spi_tx_bursts[1][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 547 spi_tx_bursts[2][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 548 spi_tx_bursts[3][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 549 spi_rx_bursts[1][i] = 0;
davide.aliprandi@st.com 33:8daea0279301 550 spi_rx_bursts[2][i] = 0;
davide.aliprandi@st.com 33:8daea0279301 551 spi_rx_bursts[3][i] = 0;
davide.aliprandi@st.com 33:8daea0279301 552 }
davide.aliprandi@st.com 33:8daea0279301 553
davide.aliprandi@st.com 33:8daea0279301 554 switch (parameter)
davide.aliprandi@st.com 33:8daea0279301 555 {
davide.aliprandi@st.com 33:8daea0279301 556 case L6474_ABS_POS: ;
davide.aliprandi@st.com 33:8daea0279301 557 case L6474_MARK:
davide.aliprandi@st.com 33:8daea0279301 558 spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
davide.aliprandi@st.com 33:8daea0279301 559 maxArgumentNbBytes = 3;
davide.aliprandi@st.com 33:8daea0279301 560 break;
davide.aliprandi@st.com 33:8daea0279301 561 case L6474_EL_POS: ;
davide.aliprandi@st.com 33:8daea0279301 562 case L6474_CONFIG: ;
davide.aliprandi@st.com 33:8daea0279301 563 case L6474_STATUS:
davide.aliprandi@st.com 33:8daea0279301 564 spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
davide.aliprandi@st.com 33:8daea0279301 565 maxArgumentNbBytes = 2;
davide.aliprandi@st.com 33:8daea0279301 566 break;
davide.aliprandi@st.com 33:8daea0279301 567 default:
davide.aliprandi@st.com 33:8daea0279301 568 spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
davide.aliprandi@st.com 33:8daea0279301 569 maxArgumentNbBytes = 1;
davide.aliprandi@st.com 33:8daea0279301 570 }
davide.aliprandi@st.com 33:8daea0279301 571
davide.aliprandi@st.com 33:8daea0279301 572 /* Disable interruption before checking */
davide.aliprandi@st.com 33:8daea0279301 573 /* pre-emption by ISR and SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 574 L6474_DisableIrq();
davide.aliprandi@st.com 33:8daea0279301 575 itDisable = TRUE;
davide.aliprandi@st.com 33:8daea0279301 576 } while (spi_preemtion_by_isr); // check pre-emption by ISR
davide.aliprandi@st.com 33:8daea0279301 577
davide.aliprandi@st.com 33:8daea0279301 578 for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
davide.aliprandi@st.com 33:8daea0279301 579 i < L6474_CMD_ARG_MAX_NB_BYTES;
davide.aliprandi@st.com 33:8daea0279301 580 i++)
davide.aliprandi@st.com 33:8daea0279301 581 {
davide.aliprandi@st.com 33:8daea0279301 582 L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
davide.aliprandi@st.com 33:8daea0279301 583 }
davide.aliprandi@st.com 33:8daea0279301 584
davide.aliprandi@st.com 33:8daea0279301 585 spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
davide.aliprandi@st.com 33:8daea0279301 586 (spi_rx_bursts[2][spiIndex] << 8) |
davide.aliprandi@st.com 33:8daea0279301 587 (spi_rx_bursts[3][spiIndex]);
davide.aliprandi@st.com 33:8daea0279301 588
davide.aliprandi@st.com 33:8daea0279301 589 /* re-enable L6474_EnableIrq after SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 590 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 591
davide.aliprandi@st.com 33:8daea0279301 592 return (spiRxData);
davide.aliprandi@st.com 33:8daea0279301 593 }
davide.aliprandi@st.com 33:8daea0279301 594
davide.aliprandi@st.com 33:8daea0279301 595 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 596 * @brief Issues the GetStatus command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 597 * @retval Status Register value
davide.aliprandi@st.com 33:8daea0279301 598 * @note Once the GetStatus command is performed, the flags of the status register
davide.aliprandi@st.com 33:8daea0279301 599 * are reset. This is not the case when the status register is read with the
davide.aliprandi@st.com 33:8daea0279301 600 * GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
davide.aliprandi@st.com 33:8daea0279301 601 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 602 uint16_t L6474::L6474_CmdGetStatus(void)
davide.aliprandi@st.com 33:8daea0279301 603 {
davide.aliprandi@st.com 33:8daea0279301 604 uint32_t i;
davide.aliprandi@st.com 33:8daea0279301 605 uint16_t status;
davide.aliprandi@st.com 33:8daea0279301 606 uint8_t spiIndex = number_of_devices - device_instance - 1;
davide.aliprandi@st.com 33:8daea0279301 607 bool itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 608
davide.aliprandi@st.com 33:8daea0279301 609 do
davide.aliprandi@st.com 33:8daea0279301 610 {
davide.aliprandi@st.com 33:8daea0279301 611 spi_preemtion_by_isr = FALSE;
davide.aliprandi@st.com 33:8daea0279301 612 if (itDisable)
davide.aliprandi@st.com 33:8daea0279301 613 {
davide.aliprandi@st.com 33:8daea0279301 614 /* re-enable L6474_EnableIrq if disable in previous iteration */
davide.aliprandi@st.com 33:8daea0279301 615 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 616 itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 617 }
davide.aliprandi@st.com 33:8daea0279301 618
davide.aliprandi@st.com 33:8daea0279301 619 for (i = 0; i < number_of_devices; i++)
davide.aliprandi@st.com 33:8daea0279301 620 {
davide.aliprandi@st.com 33:8daea0279301 621 spi_tx_bursts[0][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 622 spi_tx_bursts[1][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 623 spi_tx_bursts[2][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 624 spi_rx_bursts[1][i] = 0;
davide.aliprandi@st.com 33:8daea0279301 625 spi_rx_bursts[2][i] = 0;
davide.aliprandi@st.com 33:8daea0279301 626 }
davide.aliprandi@st.com 33:8daea0279301 627 spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
davide.aliprandi@st.com 33:8daea0279301 628
davide.aliprandi@st.com 33:8daea0279301 629 /* Disable interruption before checking */
davide.aliprandi@st.com 33:8daea0279301 630 /* pre-emption by ISR and SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 631 L6474_DisableIrq();
davide.aliprandi@st.com 33:8daea0279301 632 itDisable = TRUE;
davide.aliprandi@st.com 33:8daea0279301 633 } while (spi_preemtion_by_isr); // check pre-emption by ISR
davide.aliprandi@st.com 33:8daea0279301 634
davide.aliprandi@st.com 33:8daea0279301 635 for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
davide.aliprandi@st.com 33:8daea0279301 636 {
davide.aliprandi@st.com 33:8daea0279301 637 L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
davide.aliprandi@st.com 33:8daea0279301 638 }
davide.aliprandi@st.com 33:8daea0279301 639 status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
davide.aliprandi@st.com 33:8daea0279301 640
davide.aliprandi@st.com 33:8daea0279301 641 /* re-enable L6474_EnableIrq after SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 642 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 643
davide.aliprandi@st.com 33:8daea0279301 644 return (status);
davide.aliprandi@st.com 33:8daea0279301 645 }
davide.aliprandi@st.com 33:8daea0279301 646
davide.aliprandi@st.com 33:8daea0279301 647 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 648 * @brief Issues the Nop command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 649 * @retval None
davide.aliprandi@st.com 33:8daea0279301 650 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 651 void L6474::L6474_CmdNop(void)
davide.aliprandi@st.com 33:8daea0279301 652 {
davide.aliprandi@st.com 33:8daea0279301 653 L6474_SendCommand(L6474_NOP);
davide.aliprandi@st.com 33:8daea0279301 654 }
davide.aliprandi@st.com 33:8daea0279301 655
davide.aliprandi@st.com 33:8daea0279301 656 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 657 * @brief Issues the SetParam command to the L6474 of the specified device
davide.aliprandi@st.com 33:8daea0279301 658 * @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
davide.aliprandi@st.com 33:8daea0279301 659 * @param[in] value Value to set in the register
davide.aliprandi@st.com 33:8daea0279301 660 * @retval None
davide.aliprandi@st.com 33:8daea0279301 661 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 662 void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
davide.aliprandi@st.com 33:8daea0279301 663 {
davide.aliprandi@st.com 33:8daea0279301 664 uint32_t i;
davide.aliprandi@st.com 33:8daea0279301 665 uint8_t maxArgumentNbBytes = 0;
davide.aliprandi@st.com 33:8daea0279301 666 uint8_t spiIndex = number_of_devices - device_instance - 1;
davide.aliprandi@st.com 33:8daea0279301 667 bool itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 668 do
davide.aliprandi@st.com 33:8daea0279301 669 {
davide.aliprandi@st.com 33:8daea0279301 670 spi_preemtion_by_isr = FALSE;
davide.aliprandi@st.com 33:8daea0279301 671 if (itDisable)
davide.aliprandi@st.com 33:8daea0279301 672 {
davide.aliprandi@st.com 33:8daea0279301 673 /* re-enable L6474_EnableIrq if disable in previous iteration */
davide.aliprandi@st.com 33:8daea0279301 674 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 675 itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 676 }
davide.aliprandi@st.com 33:8daea0279301 677
davide.aliprandi@st.com 33:8daea0279301 678 for (i = 0; i < number_of_devices; i++)
davide.aliprandi@st.com 33:8daea0279301 679 {
davide.aliprandi@st.com 33:8daea0279301 680 spi_tx_bursts[0][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 681 spi_tx_bursts[1][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 682 spi_tx_bursts[2][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 683 spi_tx_bursts[3][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 684 }
davide.aliprandi@st.com 33:8daea0279301 685
davide.aliprandi@st.com 33:8daea0279301 686 switch (parameter)
davide.aliprandi@st.com 33:8daea0279301 687 {
davide.aliprandi@st.com 33:8daea0279301 688 case L6474_ABS_POS: ;
davide.aliprandi@st.com 33:8daea0279301 689 case L6474_MARK:
davide.aliprandi@st.com 33:8daea0279301 690 spi_tx_bursts[0][spiIndex] = parameter;
davide.aliprandi@st.com 33:8daea0279301 691 spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
davide.aliprandi@st.com 33:8daea0279301 692 spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
davide.aliprandi@st.com 33:8daea0279301 693 maxArgumentNbBytes = 3;
davide.aliprandi@st.com 33:8daea0279301 694 break;
davide.aliprandi@st.com 33:8daea0279301 695 case L6474_EL_POS: ;
davide.aliprandi@st.com 33:8daea0279301 696 case L6474_CONFIG:
davide.aliprandi@st.com 33:8daea0279301 697 spi_tx_bursts[1][spiIndex] = parameter;
davide.aliprandi@st.com 33:8daea0279301 698 spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
davide.aliprandi@st.com 33:8daea0279301 699 maxArgumentNbBytes = 2;
davide.aliprandi@st.com 33:8daea0279301 700 break;
davide.aliprandi@st.com 33:8daea0279301 701 default:
davide.aliprandi@st.com 33:8daea0279301 702 spi_tx_bursts[2][spiIndex] = parameter;
davide.aliprandi@st.com 33:8daea0279301 703 maxArgumentNbBytes = 1;
davide.aliprandi@st.com 33:8daea0279301 704 break;
davide.aliprandi@st.com 33:8daea0279301 705 }
davide.aliprandi@st.com 33:8daea0279301 706 spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
davide.aliprandi@st.com 33:8daea0279301 707
davide.aliprandi@st.com 33:8daea0279301 708 /* Disable interruption before checking */
davide.aliprandi@st.com 33:8daea0279301 709 /* pre-emption by ISR and SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 710 L6474_DisableIrq();
davide.aliprandi@st.com 33:8daea0279301 711 itDisable = TRUE;
davide.aliprandi@st.com 33:8daea0279301 712 } while (spi_preemtion_by_isr); // check pre-emption by ISR
davide.aliprandi@st.com 33:8daea0279301 713
davide.aliprandi@st.com 33:8daea0279301 714 /* SPI transfer */
davide.aliprandi@st.com 33:8daea0279301 715 for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
davide.aliprandi@st.com 33:8daea0279301 716 i < L6474_CMD_ARG_MAX_NB_BYTES;
davide.aliprandi@st.com 33:8daea0279301 717 i++)
davide.aliprandi@st.com 33:8daea0279301 718 {
davide.aliprandi@st.com 33:8daea0279301 719 L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
davide.aliprandi@st.com 33:8daea0279301 720 }
davide.aliprandi@st.com 33:8daea0279301 721 /* re-enable L6474_EnableIrq after SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 722 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 723 }
davide.aliprandi@st.com 33:8daea0279301 724
davide.aliprandi@st.com 33:8daea0279301 725 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 726 * @brief Reads the Status Register value
davide.aliprandi@st.com 33:8daea0279301 727 * @retval Status register valued
davide.aliprandi@st.com 33:8daea0279301 728 * @note The status register flags are not cleared
davide.aliprandi@st.com 33:8daea0279301 729 * at the difference with L6474CmdGetStatus()
davide.aliprandi@st.com 33:8daea0279301 730 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 731 uint16_t L6474::L6474_ReadStatusRegister(void)
davide.aliprandi@st.com 33:8daea0279301 732 {
davide.aliprandi@st.com 33:8daea0279301 733 return (L6474_CmdGetParam(L6474_STATUS));
davide.aliprandi@st.com 33:8daea0279301 734 }
davide.aliprandi@st.com 33:8daea0279301 735
davide.aliprandi@st.com 33:8daea0279301 736 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 737 * @brief Set the stepping mode
davide.aliprandi@st.com 33:8daea0279301 738 * @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
davide.aliprandi@st.com 33:8daea0279301 739 * @retval None
davide.aliprandi@st.com 33:8daea0279301 740 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 741 void L6474::L6474_SelectStepMode(motorStepMode_t stepMod)
davide.aliprandi@st.com 33:8daea0279301 742 {
davide.aliprandi@st.com 33:8daea0279301 743 uint8_t stepModeRegister;
davide.aliprandi@st.com 33:8daea0279301 744 L6474_STEP_SEL_t l6474StepMod;
davide.aliprandi@st.com 33:8daea0279301 745
davide.aliprandi@st.com 33:8daea0279301 746 switch (stepMod)
davide.aliprandi@st.com 33:8daea0279301 747 {
davide.aliprandi@st.com 33:8daea0279301 748 case STEP_MODE_FULL:
davide.aliprandi@st.com 33:8daea0279301 749 l6474StepMod = L6474_STEP_SEL_1;
davide.aliprandi@st.com 33:8daea0279301 750 break;
davide.aliprandi@st.com 33:8daea0279301 751 case STEP_MODE_HALF:
davide.aliprandi@st.com 33:8daea0279301 752 l6474StepMod = L6474_STEP_SEL_1_2;
davide.aliprandi@st.com 33:8daea0279301 753 break;
davide.aliprandi@st.com 33:8daea0279301 754 case STEP_MODE_1_4:
davide.aliprandi@st.com 33:8daea0279301 755 l6474StepMod = L6474_STEP_SEL_1_4;
davide.aliprandi@st.com 33:8daea0279301 756 break;
davide.aliprandi@st.com 33:8daea0279301 757 case STEP_MODE_1_8:
davide.aliprandi@st.com 33:8daea0279301 758 l6474StepMod = L6474_STEP_SEL_1_8;
davide.aliprandi@st.com 33:8daea0279301 759 break;
davide.aliprandi@st.com 33:8daea0279301 760 case STEP_MODE_1_16:
davide.aliprandi@st.com 33:8daea0279301 761 default:
davide.aliprandi@st.com 33:8daea0279301 762 l6474StepMod = L6474_STEP_SEL_1_16;
davide.aliprandi@st.com 33:8daea0279301 763 break;
davide.aliprandi@st.com 33:8daea0279301 764 }
davide.aliprandi@st.com 33:8daea0279301 765
davide.aliprandi@st.com 33:8daea0279301 766 /* Eventually deactivate motor */
davide.aliprandi@st.com 33:8daea0279301 767 if (device_prm.motionState != INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 768 {
davide.aliprandi@st.com 33:8daea0279301 769 L6474_HardStop();
davide.aliprandi@st.com 33:8daea0279301 770 }
davide.aliprandi@st.com 33:8daea0279301 771
davide.aliprandi@st.com 33:8daea0279301 772 /* Read Step mode register and clear STEP_SEL field */
davide.aliprandi@st.com 33:8daea0279301 773 stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(L6474_STEP_MODE)) ;
davide.aliprandi@st.com 33:8daea0279301 774
davide.aliprandi@st.com 33:8daea0279301 775 /* Apply new step mode */
davide.aliprandi@st.com 33:8daea0279301 776 L6474_CmdSetParam(L6474_STEP_MODE, stepModeRegister | (uint8_t)l6474StepMod);
davide.aliprandi@st.com 33:8daea0279301 777
davide.aliprandi@st.com 33:8daea0279301 778 /* Reset abs pos register */
davide.aliprandi@st.com 33:8daea0279301 779 L6474_SetHome();
davide.aliprandi@st.com 33:8daea0279301 780 }
davide.aliprandi@st.com 33:8daea0279301 781
davide.aliprandi@st.com 33:8daea0279301 782 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 783 * @brief Get the direction
davide.aliprandi@st.com 33:8daea0279301 784 * @param None
davide.aliprandi@st.com 33:8daea0279301 785 * @retval direction FORWARD or BACKWARD
davide.aliprandi@st.com 33:8daea0279301 786 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 787 motorDir_t L6474::L6474_GetDirection(void)
davide.aliprandi@st.com 33:8daea0279301 788 {
davide.aliprandi@st.com 33:8daea0279301 789 return device_prm.direction;
davide.aliprandi@st.com 33:8daea0279301 790 }
davide.aliprandi@st.com 33:8daea0279301 791
davide.aliprandi@st.com 33:8daea0279301 792 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 793 * @brief Specifies the direction
davide.aliprandi@st.com 33:8daea0279301 794 * @param[in] dir FORWARD or BACKWARD
davide.aliprandi@st.com 33:8daea0279301 795 * @note The direction change is only applied if the device
davide.aliprandi@st.com 33:8daea0279301 796 * is in INACTIVE state
davide.aliprandi@st.com 33:8daea0279301 797 * @retval None
davide.aliprandi@st.com 33:8daea0279301 798 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 799 void L6474::L6474_SetDirection(motorDir_t direction)
davide.aliprandi@st.com 33:8daea0279301 800 {
davide.aliprandi@st.com 33:8daea0279301 801 if (device_prm.motionState == INACTIVE)
davide.aliprandi@st.com 33:8daea0279301 802 {
davide.aliprandi@st.com 33:8daea0279301 803 device_prm.direction = direction;
davide.aliprandi@st.com 33:8daea0279301 804 L6474_SetDirectionGpio(direction);
davide.aliprandi@st.com 33:8daea0279301 805 }
davide.aliprandi@st.com 33:8daea0279301 806 }
davide.aliprandi@st.com 33:8daea0279301 807
davide.aliprandi@st.com 33:8daea0279301 808 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 809 * @brief Updates the current speed of the device
davide.aliprandi@st.com 33:8daea0279301 810 * @param[in] newSpeed in pps
davide.aliprandi@st.com 33:8daea0279301 811 * @retval None
davide.aliprandi@st.com 33:8daea0279301 812 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 813 void L6474::L6474_ApplySpeed(uint16_t newSpeed)
davide.aliprandi@st.com 33:8daea0279301 814 {
davide.aliprandi@st.com 33:8daea0279301 815 if (newSpeed < L6474_MIN_PWM_FREQ)
davide.aliprandi@st.com 33:8daea0279301 816 {
davide.aliprandi@st.com 33:8daea0279301 817 newSpeed = L6474_MIN_PWM_FREQ;
davide.aliprandi@st.com 33:8daea0279301 818 }
davide.aliprandi@st.com 33:8daea0279301 819 if (newSpeed > L6474_MAX_PWM_FREQ)
davide.aliprandi@st.com 33:8daea0279301 820 {
davide.aliprandi@st.com 33:8daea0279301 821 newSpeed = L6474_MAX_PWM_FREQ;
davide.aliprandi@st.com 33:8daea0279301 822 }
davide.aliprandi@st.com 33:8daea0279301 823
davide.aliprandi@st.com 33:8daea0279301 824 device_prm.speed = newSpeed;
davide.aliprandi@st.com 33:8daea0279301 825
davide.aliprandi@st.com 33:8daea0279301 826 L6474_PwmSetFreq(newSpeed);
davide.aliprandi@st.com 33:8daea0279301 827 }
davide.aliprandi@st.com 33:8daea0279301 828
davide.aliprandi@st.com 33:8daea0279301 829 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 830 * @brief Computes the speed profile according to the number of steps to move
davide.aliprandi@st.com 33:8daea0279301 831 * @param[in] nbSteps number of steps to perform
davide.aliprandi@st.com 33:8daea0279301 832 * @retval None
davide.aliprandi@st.com 33:8daea0279301 833 * @note Using the acceleration and deceleration of the device,
davide.aliprandi@st.com 33:8daea0279301 834 * this function determines the duration in steps of the acceleration,
davide.aliprandi@st.com 33:8daea0279301 835 * steady and deceleration phases.
davide.aliprandi@st.com 33:8daea0279301 836 * If the total number of steps to perform is big enough, a trapezoidal move
davide.aliprandi@st.com 33:8daea0279301 837 * is performed (i.e. there is a steady phase where the motor runs at the maximum
davide.aliprandi@st.com 33:8daea0279301 838 * speed.
davide.aliprandi@st.com 33:8daea0279301 839 * Else, a triangular move is performed (no steady phase: the maximum speed is never
davide.aliprandi@st.com 33:8daea0279301 840 * reached.
davide.aliprandi@st.com 33:8daea0279301 841 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 842 void L6474::L6474_ComputeSpeedProfile(uint32_t nbSteps)
davide.aliprandi@st.com 33:8daea0279301 843 {
davide.aliprandi@st.com 33:8daea0279301 844 uint32_t reqAccSteps;
davide.aliprandi@st.com 33:8daea0279301 845 uint32_t reqDecSteps;
davide.aliprandi@st.com 33:8daea0279301 846
davide.aliprandi@st.com 33:8daea0279301 847 /* compute the number of steps to get the targeted speed */
davide.aliprandi@st.com 33:8daea0279301 848 uint16_t minSpeed = device_prm.minSpeed;
davide.aliprandi@st.com 33:8daea0279301 849 reqAccSteps = (device_prm.maxSpeed - minSpeed);
davide.aliprandi@st.com 33:8daea0279301 850 reqAccSteps *= (device_prm.maxSpeed + minSpeed);
davide.aliprandi@st.com 33:8daea0279301 851 reqDecSteps = reqAccSteps;
davide.aliprandi@st.com 33:8daea0279301 852 reqAccSteps /= (uint32_t)device_prm.acceleration;
davide.aliprandi@st.com 33:8daea0279301 853 reqAccSteps /= 2;
davide.aliprandi@st.com 33:8daea0279301 854
davide.aliprandi@st.com 33:8daea0279301 855 /* compute the number of steps to stop */
davide.aliprandi@st.com 33:8daea0279301 856 reqDecSteps /= (uint32_t)device_prm.deceleration;
davide.aliprandi@st.com 33:8daea0279301 857 reqDecSteps /= 2;
davide.aliprandi@st.com 33:8daea0279301 858
davide.aliprandi@st.com 33:8daea0279301 859 if(( reqAccSteps + reqDecSteps ) > nbSteps)
davide.aliprandi@st.com 33:8daea0279301 860 {
davide.aliprandi@st.com 33:8daea0279301 861 /* Triangular move */
davide.aliprandi@st.com 33:8daea0279301 862 /* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
davide.aliprandi@st.com 33:8daea0279301 863 uint32_t dec = device_prm.deceleration;
davide.aliprandi@st.com 33:8daea0279301 864 uint32_t acc = device_prm.acceleration;
davide.aliprandi@st.com 33:8daea0279301 865
davide.aliprandi@st.com 33:8daea0279301 866 reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
davide.aliprandi@st.com 33:8daea0279301 867 if (reqDecSteps > 1)
davide.aliprandi@st.com 33:8daea0279301 868 {
davide.aliprandi@st.com 33:8daea0279301 869 reqAccSteps = reqDecSteps - 1;
davide.aliprandi@st.com 33:8daea0279301 870 if(reqAccSteps == 0)
davide.aliprandi@st.com 33:8daea0279301 871 {
davide.aliprandi@st.com 33:8daea0279301 872 reqAccSteps = 1;
davide.aliprandi@st.com 33:8daea0279301 873 }
davide.aliprandi@st.com 33:8daea0279301 874 }
davide.aliprandi@st.com 33:8daea0279301 875 else
davide.aliprandi@st.com 33:8daea0279301 876 {
davide.aliprandi@st.com 33:8daea0279301 877 reqAccSteps = 0;
davide.aliprandi@st.com 33:8daea0279301 878 }
davide.aliprandi@st.com 33:8daea0279301 879 device_prm.endAccPos = reqAccSteps;
davide.aliprandi@st.com 33:8daea0279301 880 device_prm.startDecPos = reqDecSteps;
davide.aliprandi@st.com 33:8daea0279301 881 }
davide.aliprandi@st.com 33:8daea0279301 882 else
davide.aliprandi@st.com 33:8daea0279301 883 {
davide.aliprandi@st.com 33:8daea0279301 884 /* Trapezoidal move */
davide.aliprandi@st.com 33:8daea0279301 885 /* accelerating phase to endAccPos */
davide.aliprandi@st.com 33:8daea0279301 886 /* steady phase from endAccPos to startDecPos */
davide.aliprandi@st.com 33:8daea0279301 887 /* decelerating from startDecPos to stepsToTake*/
davide.aliprandi@st.com 33:8daea0279301 888 device_prm.endAccPos = reqAccSteps;
davide.aliprandi@st.com 33:8daea0279301 889 device_prm.startDecPos = nbSteps - reqDecSteps - 1;
davide.aliprandi@st.com 33:8daea0279301 890 }
davide.aliprandi@st.com 33:8daea0279301 891 }
davide.aliprandi@st.com 33:8daea0279301 892
davide.aliprandi@st.com 33:8daea0279301 893 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 894 * @brief Converts the ABS_POSITION register value to a 32b signed integer
davide.aliprandi@st.com 33:8daea0279301 895 * @param[in] abs_position_reg value of the ABS_POSITION register
davide.aliprandi@st.com 33:8daea0279301 896 * @retval operation_result 32b signed integer corresponding to the absolute position
davide.aliprandi@st.com 33:8daea0279301 897 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 898 int32_t L6474::L6474_ConvertPosition(uint32_t abs_position_reg)
davide.aliprandi@st.com 33:8daea0279301 899 {
davide.aliprandi@st.com 33:8daea0279301 900 int32_t operation_result;
davide.aliprandi@st.com 33:8daea0279301 901
davide.aliprandi@st.com 33:8daea0279301 902 if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK)
davide.aliprandi@st.com 33:8daea0279301 903 {
davide.aliprandi@st.com 33:8daea0279301 904 /* Negative register value */
davide.aliprandi@st.com 33:8daea0279301 905 abs_position_reg = ~abs_position_reg;
davide.aliprandi@st.com 33:8daea0279301 906 abs_position_reg += 1;
davide.aliprandi@st.com 33:8daea0279301 907
davide.aliprandi@st.com 33:8daea0279301 908 operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
davide.aliprandi@st.com 33:8daea0279301 909 operation_result = -operation_result;
davide.aliprandi@st.com 33:8daea0279301 910 }
davide.aliprandi@st.com 33:8daea0279301 911 else
davide.aliprandi@st.com 33:8daea0279301 912 {
davide.aliprandi@st.com 33:8daea0279301 913 operation_result = (int32_t) abs_position_reg;
davide.aliprandi@st.com 33:8daea0279301 914 }
davide.aliprandi@st.com 33:8daea0279301 915
davide.aliprandi@st.com 33:8daea0279301 916 return operation_result;
davide.aliprandi@st.com 33:8daea0279301 917 }
davide.aliprandi@st.com 33:8daea0279301 918
davide.aliprandi@st.com 33:8daea0279301 919 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 920 * @brief Error handler which calls the user callback (if defined)
davide.aliprandi@st.com 33:8daea0279301 921 * @param[in] error Number of the error
davide.aliprandi@st.com 33:8daea0279301 922 * @retval None
davide.aliprandi@st.com 33:8daea0279301 923 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 924 void L6474::L6474_ErrorHandler(uint16_t error)
davide.aliprandi@st.com 33:8daea0279301 925 {
davide.aliprandi@st.com 33:8daea0279301 926 if (error_handler_callback != 0)
davide.aliprandi@st.com 33:8daea0279301 927 {
davide.aliprandi@st.com 33:8daea0279301 928 (void) error_handler_callback(error);
davide.aliprandi@st.com 33:8daea0279301 929 }
davide.aliprandi@st.com 33:8daea0279301 930 else
davide.aliprandi@st.com 33:8daea0279301 931 {
davide.aliprandi@st.com 33:8daea0279301 932 /* Aborting the program. */
davide.aliprandi@st.com 33:8daea0279301 933 exit(EXIT_FAILURE);
davide.aliprandi@st.com 33:8daea0279301 934 }
davide.aliprandi@st.com 33:8daea0279301 935 }
davide.aliprandi@st.com 33:8daea0279301 936
davide.aliprandi@st.com 33:8daea0279301 937 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 938 * @brief Sends a command without arguments to the L6474 via the SPI
davide.aliprandi@st.com 33:8daea0279301 939 * @param[in] param Command to send
davide.aliprandi@st.com 33:8daea0279301 940 * @retval None
davide.aliprandi@st.com 33:8daea0279301 941 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 942 void L6474::L6474_SendCommand(uint8_t param)
davide.aliprandi@st.com 33:8daea0279301 943 {
davide.aliprandi@st.com 33:8daea0279301 944 uint32_t i;
davide.aliprandi@st.com 33:8daea0279301 945 bool itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 946 uint8_t spiIndex = number_of_devices - device_instance - 1;
davide.aliprandi@st.com 33:8daea0279301 947
davide.aliprandi@st.com 33:8daea0279301 948 do
davide.aliprandi@st.com 33:8daea0279301 949 {
davide.aliprandi@st.com 33:8daea0279301 950 spi_preemtion_by_isr = FALSE;
davide.aliprandi@st.com 33:8daea0279301 951 if (itDisable)
davide.aliprandi@st.com 33:8daea0279301 952 {
davide.aliprandi@st.com 33:8daea0279301 953 /* re-enable L6474_EnableIrq if disable in previous iteration */
davide.aliprandi@st.com 33:8daea0279301 954 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 955 itDisable = FALSE;
davide.aliprandi@st.com 33:8daea0279301 956 }
davide.aliprandi@st.com 33:8daea0279301 957
davide.aliprandi@st.com 33:8daea0279301 958 for (i = 0; i < number_of_devices; i++)
davide.aliprandi@st.com 33:8daea0279301 959 {
davide.aliprandi@st.com 33:8daea0279301 960 spi_tx_bursts[3][i] = L6474_NOP;
davide.aliprandi@st.com 33:8daea0279301 961 }
davide.aliprandi@st.com 33:8daea0279301 962 spi_tx_bursts[3][spiIndex] = param;
davide.aliprandi@st.com 33:8daea0279301 963
davide.aliprandi@st.com 33:8daea0279301 964 /* Disable interruption before checking */
davide.aliprandi@st.com 33:8daea0279301 965 /* pre-emption by ISR and SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 966 L6474_DisableIrq();
davide.aliprandi@st.com 33:8daea0279301 967 itDisable = TRUE;
davide.aliprandi@st.com 33:8daea0279301 968 } while (spi_preemtion_by_isr); // check pre-emption by ISR
davide.aliprandi@st.com 33:8daea0279301 969
davide.aliprandi@st.com 33:8daea0279301 970 L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]);
davide.aliprandi@st.com 33:8daea0279301 971
davide.aliprandi@st.com 33:8daea0279301 972 /* re-enable L6474_EnableIrq after SPI transfers*/
davide.aliprandi@st.com 33:8daea0279301 973 L6474_EnableIrq();
davide.aliprandi@st.com 33:8daea0279301 974 }
davide.aliprandi@st.com 33:8daea0279301 975
davide.aliprandi@st.com 33:8daea0279301 976 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 977 * @brief Sets the registers of the L6474 to their predefined values
davide.aliprandi@st.com 33:8daea0279301 978 * from l6474_target_config.h
davide.aliprandi@st.com 33:8daea0279301 979 * @retval None
davide.aliprandi@st.com 33:8daea0279301 980 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 981 void L6474::L6474_SetRegisterToPredefinedValues(void)
davide.aliprandi@st.com 33:8daea0279301 982 {
davide.aliprandi@st.com 33:8daea0279301 983 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 984 L6474_ABS_POS,
davide.aliprandi@st.com 33:8daea0279301 985 0);
davide.aliprandi@st.com 33:8daea0279301 986 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 987 L6474_EL_POS,
davide.aliprandi@st.com 33:8daea0279301 988 0);
davide.aliprandi@st.com 33:8daea0279301 989 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 990 L6474_MARK,
davide.aliprandi@st.com 33:8daea0279301 991 0);
davide.aliprandi@st.com 33:8daea0279301 992 switch (device_instance)
davide.aliprandi@st.com 33:8daea0279301 993 {
davide.aliprandi@st.com 33:8daea0279301 994 case 0:
davide.aliprandi@st.com 33:8daea0279301 995 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 996 L6474_TVAL,
davide.aliprandi@st.com 33:8daea0279301 997 L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
davide.aliprandi@st.com 33:8daea0279301 998 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 999 L6474_T_FAST,
davide.aliprandi@st.com 33:8daea0279301 1000 (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1001 (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
davide.aliprandi@st.com 33:8daea0279301 1002 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1003 L6474_TON_MIN,
davide.aliprandi@st.com 33:8daea0279301 1004 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
davide.aliprandi@st.com 33:8daea0279301 1005 );
davide.aliprandi@st.com 33:8daea0279301 1006 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1007 L6474_TOFF_MIN,
davide.aliprandi@st.com 33:8daea0279301 1008 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
davide.aliprandi@st.com 33:8daea0279301 1009 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1010 L6474_OCD_TH,
davide.aliprandi@st.com 33:8daea0279301 1011 L6474_CONF_PARAM_OCD_TH_DEVICE_0);
davide.aliprandi@st.com 33:8daea0279301 1012 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1013 L6474_STEP_MODE,
davide.aliprandi@st.com 33:8daea0279301 1014 (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1015 (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
davide.aliprandi@st.com 33:8daea0279301 1016 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1017 L6474_ALARM_EN,
davide.aliprandi@st.com 33:8daea0279301 1018 L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
davide.aliprandi@st.com 33:8daea0279301 1019 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1020 L6474_CONFIG,
davide.aliprandi@st.com 33:8daea0279301 1021 (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1022 (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1023 (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1024 (uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 |
davide.aliprandi@st.com 33:8daea0279301 1025 (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
davide.aliprandi@st.com 33:8daea0279301 1026 break;
davide.aliprandi@st.com 33:8daea0279301 1027 case 1:
davide.aliprandi@st.com 33:8daea0279301 1028 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1029 L6474_TVAL,
davide.aliprandi@st.com 33:8daea0279301 1030 L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
davide.aliprandi@st.com 33:8daea0279301 1031 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1032 L6474_T_FAST,
davide.aliprandi@st.com 33:8daea0279301 1033 (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1034 (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
davide.aliprandi@st.com 33:8daea0279301 1035 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1036 L6474_TON_MIN,
davide.aliprandi@st.com 33:8daea0279301 1037 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
davide.aliprandi@st.com 33:8daea0279301 1038 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1039 L6474_TOFF_MIN,
davide.aliprandi@st.com 33:8daea0279301 1040 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
davide.aliprandi@st.com 33:8daea0279301 1041 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1042 L6474_OCD_TH,
davide.aliprandi@st.com 33:8daea0279301 1043 L6474_CONF_PARAM_OCD_TH_DEVICE_1);
davide.aliprandi@st.com 33:8daea0279301 1044 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1045 L6474_STEP_MODE,
davide.aliprandi@st.com 33:8daea0279301 1046 (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1047 (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
davide.aliprandi@st.com 33:8daea0279301 1048 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1049 L6474_ALARM_EN,
davide.aliprandi@st.com 33:8daea0279301 1050 L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
davide.aliprandi@st.com 33:8daea0279301 1051 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1052 L6474_CONFIG,
davide.aliprandi@st.com 33:8daea0279301 1053 (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1054 (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1055 (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1056 (uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 |
davide.aliprandi@st.com 33:8daea0279301 1057 (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
davide.aliprandi@st.com 33:8daea0279301 1058 break;
davide.aliprandi@st.com 33:8daea0279301 1059 case 2:
davide.aliprandi@st.com 33:8daea0279301 1060 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1061 L6474_TVAL,
davide.aliprandi@st.com 33:8daea0279301 1062 L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
davide.aliprandi@st.com 33:8daea0279301 1063 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1064 L6474_T_FAST,
davide.aliprandi@st.com 33:8daea0279301 1065 (uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1066 (uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
davide.aliprandi@st.com 33:8daea0279301 1067 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1068 L6474_TON_MIN,
davide.aliprandi@st.com 33:8daea0279301 1069 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
davide.aliprandi@st.com 33:8daea0279301 1070 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1071 L6474_TOFF_MIN,
davide.aliprandi@st.com 33:8daea0279301 1072 L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
davide.aliprandi@st.com 33:8daea0279301 1073 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1074 L6474_OCD_TH,
davide.aliprandi@st.com 33:8daea0279301 1075 L6474_CONF_PARAM_OCD_TH_DEVICE_2);
davide.aliprandi@st.com 33:8daea0279301 1076 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1077 L6474_STEP_MODE,
davide.aliprandi@st.com 33:8daea0279301 1078 (uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1079 (uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
davide.aliprandi@st.com 33:8daea0279301 1080 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1081 L6474_ALARM_EN,
davide.aliprandi@st.com 33:8daea0279301 1082 L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
davide.aliprandi@st.com 33:8daea0279301 1083 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1084 L6474_CONFIG,
davide.aliprandi@st.com 33:8daea0279301 1085 (uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1086 (uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1087 (uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1088 (uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 |
davide.aliprandi@st.com 33:8daea0279301 1089 (uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
davide.aliprandi@st.com 33:8daea0279301 1090 break;
davide.aliprandi@st.com 33:8daea0279301 1091 default: ;
davide.aliprandi@st.com 33:8daea0279301 1092 }
davide.aliprandi@st.com 33:8daea0279301 1093 }
davide.aliprandi@st.com 33:8daea0279301 1094
davide.aliprandi@st.com 33:8daea0279301 1095 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1096 * @brief Sets the registers of the L6474 to initialization values.
davide.aliprandi@st.com 33:8daea0279301 1097 * @param init Initialization structure.
davide.aliprandi@st.com 33:8daea0279301 1098 * @retval None.
davide.aliprandi@st.com 33:8daea0279301 1099 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1100 void L6474::L6474_SetRegisterToInitializationValues(L6474_init_t *init)
davide.aliprandi@st.com 33:8daea0279301 1101 {
davide.aliprandi@st.com 33:8daea0279301 1102 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1103 L6474_ABS_POS,
davide.aliprandi@st.com 33:8daea0279301 1104 0
davide.aliprandi@st.com 33:8daea0279301 1105 );
davide.aliprandi@st.com 33:8daea0279301 1106 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1107 L6474_EL_POS,
davide.aliprandi@st.com 33:8daea0279301 1108 0
davide.aliprandi@st.com 33:8daea0279301 1109 );
davide.aliprandi@st.com 33:8daea0279301 1110 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1111 L6474_MARK,
davide.aliprandi@st.com 33:8daea0279301 1112 0
davide.aliprandi@st.com 33:8daea0279301 1113 );
davide.aliprandi@st.com 33:8daea0279301 1114 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1115 L6474_TVAL,
davide.aliprandi@st.com 33:8daea0279301 1116 L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
davide.aliprandi@st.com 33:8daea0279301 1117 );
davide.aliprandi@st.com 33:8daea0279301 1118 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1119 L6474_T_FAST,
davide.aliprandi@st.com 33:8daea0279301 1120 (uint8_t) init->maximum_fast_decay_time |
davide.aliprandi@st.com 33:8daea0279301 1121 (uint8_t) init->fall_time
davide.aliprandi@st.com 33:8daea0279301 1122 );
davide.aliprandi@st.com 33:8daea0279301 1123 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1124 L6474_TON_MIN,
davide.aliprandi@st.com 33:8daea0279301 1125 L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
davide.aliprandi@st.com 33:8daea0279301 1126 );
davide.aliprandi@st.com 33:8daea0279301 1127 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1128 L6474_TOFF_MIN,
davide.aliprandi@st.com 33:8daea0279301 1129 L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
davide.aliprandi@st.com 33:8daea0279301 1130 );
davide.aliprandi@st.com 33:8daea0279301 1131 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1132 L6474_OCD_TH,
davide.aliprandi@st.com 33:8daea0279301 1133 init->overcurrent_threshold
davide.aliprandi@st.com 33:8daea0279301 1134 );
davide.aliprandi@st.com 33:8daea0279301 1135 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1136 L6474_STEP_MODE,
davide.aliprandi@st.com 33:8daea0279301 1137 (uint8_t) init->step_selection |
davide.aliprandi@st.com 33:8daea0279301 1138 (uint8_t) init->sync_selection
davide.aliprandi@st.com 33:8daea0279301 1139 );
davide.aliprandi@st.com 33:8daea0279301 1140 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1141 L6474_ALARM_EN,
davide.aliprandi@st.com 33:8daea0279301 1142 init->alarm
davide.aliprandi@st.com 33:8daea0279301 1143 );
davide.aliprandi@st.com 33:8daea0279301 1144 L6474_CmdSetParam(
davide.aliprandi@st.com 33:8daea0279301 1145 L6474_CONFIG,
davide.aliprandi@st.com 33:8daea0279301 1146 (uint16_t) init->clock |
davide.aliprandi@st.com 33:8daea0279301 1147 (uint16_t) init->torque_regulation_method |
davide.aliprandi@st.com 33:8daea0279301 1148 (uint16_t) init->overcurrent_shutwdown |
davide.aliprandi@st.com 33:8daea0279301 1149 (uint16_t) init->slew_rate |
davide.aliprandi@st.com 33:8daea0279301 1150 (uint16_t) init->target_swicthing_period
davide.aliprandi@st.com 33:8daea0279301 1151 );
davide.aliprandi@st.com 33:8daea0279301 1152 L6474_SetAcceleration((uint16_t) init->acceleration_pps_2);
davide.aliprandi@st.com 33:8daea0279301 1153 L6474_SetDeceleration((uint16_t) init->deceleration_pps_2);
davide.aliprandi@st.com 33:8daea0279301 1154 L6474_SetMaxSpeed((uint16_t) init->maximum_speed_pps);
davide.aliprandi@st.com 33:8daea0279301 1155 L6474_SetMinSpeed((uint16_t) init->minimum_speed_pps);
davide.aliprandi@st.com 33:8daea0279301 1156 }
davide.aliprandi@st.com 33:8daea0279301 1157
davide.aliprandi@st.com 33:8daea0279301 1158 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1159 * @brief Sets the parameters of the device to predefined values
davide.aliprandi@st.com 33:8daea0279301 1160 * from l6474_target_config.h
davide.aliprandi@st.com 33:8daea0279301 1161 * @param None
davide.aliprandi@st.com 33:8daea0279301 1162 * @retval None
davide.aliprandi@st.com 33:8daea0279301 1163 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1164 void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
davide.aliprandi@st.com 33:8daea0279301 1165 {
davide.aliprandi@st.com 33:8daea0279301 1166 switch (device_instance)
davide.aliprandi@st.com 33:8daea0279301 1167 {
davide.aliprandi@st.com 33:8daea0279301 1168 case 0:
davide.aliprandi@st.com 33:8daea0279301 1169 device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
davide.aliprandi@st.com 33:8daea0279301 1170 device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
davide.aliprandi@st.com 33:8daea0279301 1171 device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
davide.aliprandi@st.com 33:8daea0279301 1172 device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
davide.aliprandi@st.com 33:8daea0279301 1173 break;
davide.aliprandi@st.com 33:8daea0279301 1174
davide.aliprandi@st.com 33:8daea0279301 1175 case 1:
davide.aliprandi@st.com 33:8daea0279301 1176 device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
davide.aliprandi@st.com 33:8daea0279301 1177 device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
davide.aliprandi@st.com 33:8daea0279301 1178 device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
davide.aliprandi@st.com 33:8daea0279301 1179 device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
davide.aliprandi@st.com 33:8daea0279301 1180 break;
davide.aliprandi@st.com 33:8daea0279301 1181
davide.aliprandi@st.com 33:8daea0279301 1182 case 2:
davide.aliprandi@st.com 33:8daea0279301 1183 device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
davide.aliprandi@st.com 33:8daea0279301 1184 device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
davide.aliprandi@st.com 33:8daea0279301 1185 device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
davide.aliprandi@st.com 33:8daea0279301 1186 device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
davide.aliprandi@st.com 33:8daea0279301 1187 break;
davide.aliprandi@st.com 33:8daea0279301 1188 }
davide.aliprandi@st.com 33:8daea0279301 1189
davide.aliprandi@st.com 33:8daea0279301 1190 device_prm.accu = 0;
davide.aliprandi@st.com 33:8daea0279301 1191 device_prm.currentPosition = 0;
davide.aliprandi@st.com 33:8daea0279301 1192 device_prm.endAccPos = 0;
davide.aliprandi@st.com 33:8daea0279301 1193 device_prm.relativePos = 0;
davide.aliprandi@st.com 33:8daea0279301 1194 device_prm.startDecPos = 0;
davide.aliprandi@st.com 33:8daea0279301 1195 device_prm.stepsToTake = 0;
davide.aliprandi@st.com 33:8daea0279301 1196 device_prm.speed = 0;
davide.aliprandi@st.com 33:8daea0279301 1197 device_prm.commandExecuted = NO_CMD;
davide.aliprandi@st.com 33:8daea0279301 1198 device_prm.direction = FORWARD;
davide.aliprandi@st.com 33:8daea0279301 1199 device_prm.motionState = INACTIVE;
davide.aliprandi@st.com 33:8daea0279301 1200 }
davide.aliprandi@st.com 33:8daea0279301 1201
davide.aliprandi@st.com 33:8daea0279301 1202 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1203 * @brief Initialises the bridge parameters to start the movement
davide.aliprandi@st.com 33:8daea0279301 1204 * and enable the power bridge
davide.aliprandi@st.com 33:8daea0279301 1205 * @retval None
davide.aliprandi@st.com 33:8daea0279301 1206 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1207 void L6474::L6474_StartMovement(void)
davide.aliprandi@st.com 33:8daea0279301 1208 {
davide.aliprandi@st.com 33:8daea0279301 1209 /* Enable L6474 powerstage */
davide.aliprandi@st.com 33:8daea0279301 1210 L6474_CmdEnable();
davide.aliprandi@st.com 33:8daea0279301 1211 if (device_prm.endAccPos != 0)
davide.aliprandi@st.com 33:8daea0279301 1212 {
davide.aliprandi@st.com 33:8daea0279301 1213 device_prm.motionState = ACCELERATING;
davide.aliprandi@st.com 33:8daea0279301 1214 }
davide.aliprandi@st.com 33:8daea0279301 1215 else
davide.aliprandi@st.com 33:8daea0279301 1216 {
davide.aliprandi@st.com 33:8daea0279301 1217 device_prm.motionState = DECELERATING;
davide.aliprandi@st.com 33:8daea0279301 1218 }
davide.aliprandi@st.com 33:8daea0279301 1219 device_prm.accu = 0;
davide.aliprandi@st.com 33:8daea0279301 1220 device_prm.relativePos = 0;
davide.aliprandi@st.com 33:8daea0279301 1221 L6474_ApplySpeed(device_prm.minSpeed);
davide.aliprandi@st.com 33:8daea0279301 1222 }
davide.aliprandi@st.com 33:8daea0279301 1223
davide.aliprandi@st.com 33:8daea0279301 1224 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1225 * @brief Handles the device state machine at each ste
davide.aliprandi@st.com 33:8daea0279301 1226 * @retval None
davide.aliprandi@st.com 33:8daea0279301 1227 * @note Must only be called by the timer ISR
davide.aliprandi@st.com 33:8daea0279301 1228 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1229 void L6474::L6474_StepClockHandler(void)
davide.aliprandi@st.com 33:8daea0279301 1230 {
davide.aliprandi@st.com 33:8daea0279301 1231 /* Set isr flag */
davide.aliprandi@st.com 33:8daea0279301 1232 isr_flag = TRUE;
davide.aliprandi@st.com 33:8daea0279301 1233
davide.aliprandi@st.com 33:8daea0279301 1234 /* Incrementation of the relative position */
davide.aliprandi@st.com 33:8daea0279301 1235 device_prm.relativePos++;
davide.aliprandi@st.com 33:8daea0279301 1236
davide.aliprandi@st.com 33:8daea0279301 1237 switch (device_prm.motionState)
davide.aliprandi@st.com 33:8daea0279301 1238 {
davide.aliprandi@st.com 33:8daea0279301 1239 case ACCELERATING:
davide.aliprandi@st.com 33:8daea0279301 1240 {
davide.aliprandi@st.com 33:8daea0279301 1241 uint32_t relPos = device_prm.relativePos;
davide.aliprandi@st.com 33:8daea0279301 1242 uint32_t endAccPos = device_prm.endAccPos;
davide.aliprandi@st.com 33:8daea0279301 1243 uint16_t speed = device_prm.speed;
davide.aliprandi@st.com 33:8daea0279301 1244 uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
davide.aliprandi@st.com 33:8daea0279301 1245
davide.aliprandi@st.com 33:8daea0279301 1246 if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
davide.aliprandi@st.com 33:8daea0279301 1247 ((device_prm.commandExecuted != RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1248 (relPos == device_prm.startDecPos)))
davide.aliprandi@st.com 33:8daea0279301 1249 {
davide.aliprandi@st.com 33:8daea0279301 1250 device_prm.motionState = DECELERATING;
davide.aliprandi@st.com 33:8daea0279301 1251 device_prm.accu = 0;
davide.aliprandi@st.com 33:8daea0279301 1252 }
davide.aliprandi@st.com 33:8daea0279301 1253 else if ((speed >= device_prm.maxSpeed)||
davide.aliprandi@st.com 33:8daea0279301 1254 ((device_prm.commandExecuted != RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1255 (relPos == endAccPos)))
davide.aliprandi@st.com 33:8daea0279301 1256 {
davide.aliprandi@st.com 33:8daea0279301 1257 device_prm.motionState = STEADY;
davide.aliprandi@st.com 33:8daea0279301 1258 }
davide.aliprandi@st.com 33:8daea0279301 1259 else
davide.aliprandi@st.com 33:8daea0279301 1260 {
davide.aliprandi@st.com 33:8daea0279301 1261 bool speedUpdated = FALSE;
davide.aliprandi@st.com 33:8daea0279301 1262 /* Go on accelerating */
davide.aliprandi@st.com 33:8daea0279301 1263 if (speed == 0) speed =1;
davide.aliprandi@st.com 33:8daea0279301 1264 device_prm.accu += acc / speed;
davide.aliprandi@st.com 33:8daea0279301 1265 while (device_prm.accu >= (0X10000L))
davide.aliprandi@st.com 33:8daea0279301 1266 {
davide.aliprandi@st.com 33:8daea0279301 1267 device_prm.accu -= (0X10000L);
davide.aliprandi@st.com 33:8daea0279301 1268 speed +=1;
davide.aliprandi@st.com 33:8daea0279301 1269 speedUpdated = TRUE;
davide.aliprandi@st.com 33:8daea0279301 1270 }
davide.aliprandi@st.com 33:8daea0279301 1271
davide.aliprandi@st.com 33:8daea0279301 1272 if (speedUpdated)
davide.aliprandi@st.com 33:8daea0279301 1273 {
davide.aliprandi@st.com 33:8daea0279301 1274 if (speed > device_prm.maxSpeed)
davide.aliprandi@st.com 33:8daea0279301 1275 {
davide.aliprandi@st.com 33:8daea0279301 1276 speed = device_prm.maxSpeed;
davide.aliprandi@st.com 33:8daea0279301 1277 }
davide.aliprandi@st.com 33:8daea0279301 1278 device_prm.speed = speed;
davide.aliprandi@st.com 33:8daea0279301 1279 L6474_ApplySpeed(device_prm.speed);
davide.aliprandi@st.com 33:8daea0279301 1280 }
davide.aliprandi@st.com 33:8daea0279301 1281 }
davide.aliprandi@st.com 33:8daea0279301 1282 break;
davide.aliprandi@st.com 33:8daea0279301 1283 }
davide.aliprandi@st.com 33:8daea0279301 1284 case STEADY:
davide.aliprandi@st.com 33:8daea0279301 1285 {
davide.aliprandi@st.com 33:8daea0279301 1286 uint16_t maxSpeed = device_prm.maxSpeed;
davide.aliprandi@st.com 33:8daea0279301 1287 uint32_t relativePos = device_prm.relativePos;
davide.aliprandi@st.com 33:8daea0279301 1288 if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
davide.aliprandi@st.com 33:8daea0279301 1289 ((device_prm.commandExecuted != RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1290 (relativePos >= (device_prm.startDecPos))) ||
davide.aliprandi@st.com 33:8daea0279301 1291 ((device_prm.commandExecuted == RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1292 (device_prm.speed > maxSpeed)))
davide.aliprandi@st.com 33:8daea0279301 1293 {
davide.aliprandi@st.com 33:8daea0279301 1294 device_prm.motionState = DECELERATING;
davide.aliprandi@st.com 33:8daea0279301 1295 device_prm.accu = 0;
davide.aliprandi@st.com 33:8daea0279301 1296 }
davide.aliprandi@st.com 33:8daea0279301 1297 else if ((device_prm.commandExecuted == RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1298 (device_prm.speed < maxSpeed))
davide.aliprandi@st.com 33:8daea0279301 1299 {
davide.aliprandi@st.com 33:8daea0279301 1300 device_prm.motionState = ACCELERATING;
davide.aliprandi@st.com 33:8daea0279301 1301 device_prm.accu = 0;
davide.aliprandi@st.com 33:8daea0279301 1302 }
davide.aliprandi@st.com 33:8daea0279301 1303 break;
davide.aliprandi@st.com 33:8daea0279301 1304 }
davide.aliprandi@st.com 33:8daea0279301 1305 case DECELERATING:
davide.aliprandi@st.com 33:8daea0279301 1306 {
davide.aliprandi@st.com 33:8daea0279301 1307 uint32_t relativePos = device_prm.relativePos;
davide.aliprandi@st.com 33:8daea0279301 1308 uint16_t speed = device_prm.speed;
davide.aliprandi@st.com 33:8daea0279301 1309 uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
davide.aliprandi@st.com 33:8daea0279301 1310 if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <= device_prm.minSpeed))||
davide.aliprandi@st.com 33:8daea0279301 1311 ((device_prm.commandExecuted != RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1312 (relativePos >= device_prm.stepsToTake)))
davide.aliprandi@st.com 33:8daea0279301 1313 {
davide.aliprandi@st.com 33:8daea0279301 1314 /* Motion process complete */
davide.aliprandi@st.com 33:8daea0279301 1315 L6474_HardStop();
davide.aliprandi@st.com 33:8daea0279301 1316 }
davide.aliprandi@st.com 33:8daea0279301 1317 else if ((device_prm.commandExecuted == RUN_CMD)&&
davide.aliprandi@st.com 33:8daea0279301 1318 (speed <= device_prm.maxSpeed))
davide.aliprandi@st.com 33:8daea0279301 1319 {
davide.aliprandi@st.com 33:8daea0279301 1320 device_prm.motionState = STEADY;
davide.aliprandi@st.com 33:8daea0279301 1321 }
davide.aliprandi@st.com 33:8daea0279301 1322 else
davide.aliprandi@st.com 33:8daea0279301 1323 {
davide.aliprandi@st.com 33:8daea0279301 1324 /* Go on decelerating */
davide.aliprandi@st.com 33:8daea0279301 1325 if (speed > device_prm.minSpeed)
davide.aliprandi@st.com 33:8daea0279301 1326 {
davide.aliprandi@st.com 33:8daea0279301 1327 bool speedUpdated = FALSE;
davide.aliprandi@st.com 33:8daea0279301 1328 if (speed == 0) speed =1;
davide.aliprandi@st.com 33:8daea0279301 1329 device_prm.accu += deceleration / speed;
davide.aliprandi@st.com 33:8daea0279301 1330 while (device_prm.accu >= (0X10000L))
davide.aliprandi@st.com 33:8daea0279301 1331 {
davide.aliprandi@st.com 33:8daea0279301 1332 device_prm.accu -= (0X10000L);
davide.aliprandi@st.com 33:8daea0279301 1333 if (speed > 1)
davide.aliprandi@st.com 33:8daea0279301 1334 {
davide.aliprandi@st.com 33:8daea0279301 1335 speed -=1;
davide.aliprandi@st.com 33:8daea0279301 1336 }
davide.aliprandi@st.com 33:8daea0279301 1337 speedUpdated = TRUE;
davide.aliprandi@st.com 33:8daea0279301 1338 }
davide.aliprandi@st.com 33:8daea0279301 1339
davide.aliprandi@st.com 33:8daea0279301 1340 if (speedUpdated)
davide.aliprandi@st.com 33:8daea0279301 1341 {
davide.aliprandi@st.com 33:8daea0279301 1342 if (speed < device_prm.minSpeed)
davide.aliprandi@st.com 33:8daea0279301 1343 {
davide.aliprandi@st.com 33:8daea0279301 1344 speed = device_prm.minSpeed;
davide.aliprandi@st.com 33:8daea0279301 1345 }
davide.aliprandi@st.com 33:8daea0279301 1346 device_prm.speed = speed;
davide.aliprandi@st.com 33:8daea0279301 1347 L6474_ApplySpeed(device_prm.speed);
davide.aliprandi@st.com 33:8daea0279301 1348 }
davide.aliprandi@st.com 33:8daea0279301 1349 }
davide.aliprandi@st.com 33:8daea0279301 1350 }
davide.aliprandi@st.com 33:8daea0279301 1351 break;
davide.aliprandi@st.com 33:8daea0279301 1352 }
davide.aliprandi@st.com 33:8daea0279301 1353 default:
davide.aliprandi@st.com 33:8daea0279301 1354 {
davide.aliprandi@st.com 33:8daea0279301 1355 break;
davide.aliprandi@st.com 33:8daea0279301 1356 }
davide.aliprandi@st.com 33:8daea0279301 1357 }
davide.aliprandi@st.com 33:8daea0279301 1358 /* Set isr flag */
davide.aliprandi@st.com 33:8daea0279301 1359 isr_flag = FALSE;
davide.aliprandi@st.com 33:8daea0279301 1360 }
davide.aliprandi@st.com 33:8daea0279301 1361
davide.aliprandi@st.com 33:8daea0279301 1362 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1363 * @brief Converts current in mA to values for TVAL register
davide.aliprandi@st.com 33:8daea0279301 1364 * @param[in] current_mA current in mA
davide.aliprandi@st.com 33:8daea0279301 1365 * @retval value for TVAL register
davide.aliprandi@st.com 33:8daea0279301 1366 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1367 float L6474::L6474_Tval_Current_to_Par(float current_mA)
davide.aliprandi@st.com 33:8daea0279301 1368 {
davide.aliprandi@st.com 33:8daea0279301 1369 return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
davide.aliprandi@st.com 33:8daea0279301 1370 }
davide.aliprandi@st.com 33:8daea0279301 1371
davide.aliprandi@st.com 33:8daea0279301 1372 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1373 * @brief Converts values from TVAL register to mA
davide.aliprandi@st.com 33:8daea0279301 1374 * @param[in] Tval value from TVAL register
davide.aliprandi@st.com 33:8daea0279301 1375 * @retval current in mA
davide.aliprandi@st.com 33:8daea0279301 1376 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1377 float L6474::L6474_Par_to_Tval_Current(float Tval)
davide.aliprandi@st.com 33:8daea0279301 1378 {
davide.aliprandi@st.com 33:8daea0279301 1379 return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
davide.aliprandi@st.com 33:8daea0279301 1380 }
davide.aliprandi@st.com 33:8daea0279301 1381
davide.aliprandi@st.com 33:8daea0279301 1382 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1383 * @brief Convert time in us to values for TON_MIN register
davide.aliprandi@st.com 33:8daea0279301 1384 * @param[in] ton_min_us time in us
davide.aliprandi@st.com 33:8daea0279301 1385 * @retval value for TON_MIN register
davide.aliprandi@st.com 33:8daea0279301 1386 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1387 float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
davide.aliprandi@st.com 33:8daea0279301 1388 {
davide.aliprandi@st.com 33:8daea0279301 1389 return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
davide.aliprandi@st.com 33:8daea0279301 1390 }
davide.aliprandi@st.com 33:8daea0279301 1391
davide.aliprandi@st.com 33:8daea0279301 1392 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1393 * @brief Convert values for TON_MIN register to time in us
davide.aliprandi@st.com 33:8daea0279301 1394 * @param[in] Tmin value from TON_MIN register
davide.aliprandi@st.com 33:8daea0279301 1395 * @retval time in us
davide.aliprandi@st.com 33:8daea0279301 1396 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1397 float L6474::L6474_Par_to_Tmin_Time(float Tmin)
davide.aliprandi@st.com 33:8daea0279301 1398 {
davide.aliprandi@st.com 33:8daea0279301 1399 return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
davide.aliprandi@st.com 33:8daea0279301 1400 }
davide.aliprandi@st.com 33:8daea0279301 1401
davide.aliprandi@st.com 33:8daea0279301 1402 /**********************************************************
davide.aliprandi@st.com 33:8daea0279301 1403 * @brief Write and receive a byte via SPI
davide.aliprandi@st.com 33:8daea0279301 1404 * @param[in] pByteToTransmit pointer to the byte to transmit
davide.aliprandi@st.com 33:8daea0279301 1405 * @param[in] pReceivedByte pointer to the received byte
davide.aliprandi@st.com 33:8daea0279301 1406 * @retval None
davide.aliprandi@st.com 33:8daea0279301 1407 **********************************************************/
davide.aliprandi@st.com 33:8daea0279301 1408 void L6474::L6474_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
davide.aliprandi@st.com 33:8daea0279301 1409 {
davide.aliprandi@st.com 33:8daea0279301 1410 if (L6474_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
davide.aliprandi@st.com 33:8daea0279301 1411 {
davide.aliprandi@st.com 33:8daea0279301 1412 L6474_ErrorHandler(L6474_ERROR_1);
davide.aliprandi@st.com 33:8daea0279301 1413 }
davide.aliprandi@st.com 33:8daea0279301 1414
davide.aliprandi@st.com 33:8daea0279301 1415 if (isr_flag)
davide.aliprandi@st.com 33:8daea0279301 1416 {
davide.aliprandi@st.com 33:8daea0279301 1417 spi_preemtion_by_isr = TRUE;
davide.aliprandi@st.com 33:8daea0279301 1418 }
davide.aliprandi@st.com 33:8daea0279301 1419 }
davide.aliprandi@st.com 33:8daea0279301 1420
davide.aliprandi@st.com 33:8daea0279301 1421 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/