Arkadi Rafalovich
Personal fork of the library
Fork of
X_NUCLEO_IHM01A1
by 
Arkadi Rafalovich
Diff: Components/l6474/l6474_class.cpp
- Revision:
- 18:2d6ab2b93685
- Parent:
- 15:40470df81d9a
- Child:
- 21:83138e702683
--- a/Components/l6474/l6474_class.cpp Mon Jan 04 15:54:07 2016 +0000
+++ b/Components/l6474/l6474_class.cpp Wed Jan 13 14:35:59 2016 +0000
@@ -76,15 +76,15 @@
/* Variables ----------------------------------------------------------------*/
/* Number of devices. */
-uint8_t L6474::numberOfDevices = 0;
+uint8_t L6474::number_of_devices = 0;
/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
-bool L6474::spiPreemtionByIsr = FALSE;
-bool L6474::isrFlag = FALSE;
+bool L6474::spi_preemtion_by_isr = FALSE;
+bool L6474::isr_flag = FALSE;
/* SPI Transmission for Daisy-Chain Configuration. */
-uint8_t L6474::spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
-uint8_t L6474::spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
+uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
/* Methods -------------------------------------------------------------------*/
@@ -99,14 +99,15 @@
**********************************************************/
void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
{
- errorHandlerCallback = (void (*)(uint16_t error)) callback;
+ error_handler_callback = (void (*)(uint16_t error)) callback;
}
/**********************************************************
* @brief Starts the L6474 library
- * @retval COMPONENT_OK in case of success
+ * @param init Initialization structure.
+ * @retval COMPONENT_OK in case of success.
**********************************************************/
-DrvStatusTypeDef L6474::L6474_Init(MOTOR_InitTypeDef *L6474_Init)
+DrvStatusTypeDef L6474::L6474_Init(L6474_InitTypeDef *init)
{
/* Initialise the PWMs used for the Step clocks ----------------------------*/
L6474_PwmInit();
@@ -119,9 +120,16 @@
/* Let a delay after reset */
L6474_Delay(1);
- /* Set all registers and context variables to the predefined values from l6474_target_config.h */
+ /* Set device parameters to the predefined values from "l6474_target_config.h". */
L6474_SetDeviceParamsToPredefinedValues();
+ if (init == NULL)
+ /* Set device registers to the predefined values from "l6474_target_config.h". */
+ L6474_SetRegisterToPredefinedValues();
+ else
+ /* Set device registers to the passed initialization values. */
+ L6474_SetRegisterToInitializationValues(init);
+
/* Disable L6474 powerstage */
L6474_CmdDisable();
@@ -134,11 +142,11 @@
/**********************************************************
* @brief Read id
* @param id pointer to the identifier to be read.
- * @retval COMPONENT_OK in case of success
+ * @retval COMPONENT_OK in case of success.
**********************************************************/
DrvStatusTypeDef L6474::L6474_ReadID(uint8_t *id)
{
- *id = deviceInstance;
+ *id = device_instance;
return COMPONENT_OK;
}
@@ -149,7 +157,7 @@
**********************************************************/
uint16_t L6474::L6474_GetAcceleration(void)
{
- return (devicePrm.acceleration);
+ return (device_prm.acceleration);
}
/**********************************************************
@@ -158,7 +166,7 @@
**********************************************************/
uint16_t L6474::L6474_GetCurrentSpeed(void)
{
- return devicePrm.speed;
+ return device_prm.speed;
}
/**********************************************************
@@ -167,7 +175,7 @@
**********************************************************/
uint16_t L6474::L6474_GetDeceleration(void)
{
- return (devicePrm.deceleration);
+ return (device_prm.deceleration);
}
/**********************************************************
@@ -176,7 +184,7 @@
**********************************************************/
motorState_t L6474::L6474_GetDeviceState(void)
{
- return devicePrm.motionState;
+ return device_prm.motionState;
}
/**********************************************************
@@ -204,7 +212,7 @@
**********************************************************/
uint16_t L6474::L6474_GetMaxSpeed(void)
{
- return (devicePrm.maxSpeed);
+ return (device_prm.maxSpeed);
}
/**********************************************************
@@ -213,7 +221,7 @@
**********************************************************/
uint16_t L6474::L6474_GetMinSpeed(void)
{
- return (devicePrm.minSpeed);
+ return (device_prm.minSpeed);
}
/**********************************************************
@@ -257,36 +265,36 @@
int32_t steps;
/* Eventually deactivate motor */
- if (devicePrm.motionState != INACTIVE)
+ if (device_prm.motionState != INACTIVE)
{
L6474_HardStop();
}
/* Get current position */
- devicePrm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+ device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
/* Compute the number of steps to perform */
- steps = targetPosition - devicePrm.currentPosition;
+ steps = targetPosition - device_prm.currentPosition;
if (steps >= 0)
{
- devicePrm.stepsToTake = steps;
+ device_prm.stepsToTake = steps;
direction = FORWARD;
}
else
{
- devicePrm.stepsToTake = -steps;
+ device_prm.stepsToTake = -steps;
direction = BACKWARD;
}
if (steps != 0)
{
- devicePrm.commandExecuted = MOVE_CMD;
+ device_prm.commandExecuted = MOVE_CMD;
/* Direction setup */
L6474_SetDirection(direction);
- L6474_ComputeSpeedProfile(devicePrm.stepsToTake);
+ L6474_ComputeSpeedProfile(device_prm.stepsToTake);
/* Motor activation */
L6474_StartMovement();
@@ -303,9 +311,9 @@
L6474_PwmStop();
/* Set inactive state */
- devicePrm.motionState = INACTIVE;
- devicePrm.commandExecuted = NO_CMD;
- devicePrm.stepsToTake = MAX_STEPS;
+ device_prm.motionState = INACTIVE;
+ device_prm.commandExecuted = NO_CMD;
+ device_prm.stepsToTake = MAX_STEPS;
}
/**********************************************************
@@ -317,18 +325,18 @@
void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
{
/* Eventually deactivate motor */
- if (devicePrm.motionState != INACTIVE)
+ if (device_prm.motionState != INACTIVE)
{
L6474_HardStop();
}
if (stepCount != 0)
{
- devicePrm.stepsToTake = stepCount;
+ device_prm.stepsToTake = stepCount;
- devicePrm.commandExecuted = MOVE_CMD;
+ device_prm.commandExecuted = MOVE_CMD;
- devicePrm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
+ device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
/* Direction setup */
L6474_SetDirection(direction);
@@ -349,7 +357,7 @@
void L6474::L6474_Run(motorDir_t direction)
{
/* Eventually deactivate motor */
- if (devicePrm.motionState != INACTIVE)
+ if (device_prm.motionState != INACTIVE)
{
L6474_HardStop();
}
@@ -357,7 +365,7 @@
/* Direction setup */
L6474_SetDirection(direction);
- devicePrm.commandExecuted = RUN_CMD;
+ device_prm.commandExecuted = RUN_CMD;
/* Motor activation */
L6474_StartMovement();
@@ -374,10 +382,10 @@
{
bool cmdExecuted = FALSE;
if ((newAcc != 0)&&
- ((devicePrm.motionState == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
{
- devicePrm.acceleration = newAcc;
+ device_prm.acceleration = newAcc;
cmdExecuted = TRUE;
}
return cmdExecuted;
@@ -394,10 +402,10 @@
{
bool cmdExecuted = FALSE;
if ((newDec != 0)&&
- ((devicePrm.motionState == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
{
- devicePrm.deceleration = newDec;
+ device_prm.deceleration = newDec;
cmdExecuted = TRUE;
}
return cmdExecuted;
@@ -434,11 +442,11 @@
bool cmdExecuted = FALSE;
if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
(newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
- (devicePrm.minSpeed <= newMaxSpeed) &&
- ((devicePrm.motionState == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
+ (device_prm.minSpeed <= newMaxSpeed) &&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
{
- devicePrm.maxSpeed = newMaxSpeed;
+ device_prm.maxSpeed = newMaxSpeed;
cmdExecuted = TRUE;
}
return cmdExecuted;
@@ -456,11 +464,11 @@
bool cmdExecuted = FALSE;
if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
(newMinSpeed <= L6474_MAX_PWM_FREQ) &&
- (newMinSpeed <= devicePrm.maxSpeed) &&
- ((devicePrm.motionState == INACTIVE)||
- (devicePrm.commandExecuted == RUN_CMD)))
+ (newMinSpeed <= device_prm.maxSpeed) &&
+ ((device_prm.motionState == INACTIVE)||
+ (device_prm.commandExecuted == RUN_CMD)))
{
- devicePrm.minSpeed = newMinSpeed;
+ device_prm.minSpeed = newMinSpeed;
cmdExecuted = TRUE;
}
return cmdExecuted;
@@ -474,9 +482,9 @@
bool L6474::L6474_SoftStop(void)
{
bool cmdExecuted = FALSE;
- if (devicePrm.motionState != INACTIVE)
+ if (device_prm.motionState != INACTIVE)
{
- devicePrm.commandExecuted = SOFT_STOP_CMD;
+ device_prm.commandExecuted = SOFT_STOP_CMD;
cmdExecuted = TRUE;
}
return (cmdExecuted);
@@ -520,12 +528,12 @@
uint32_t i;
uint32_t spiRxData;
uint8_t maxArgumentNbBytes = 0;
- uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
bool itDisable = FALSE;
do
{
- spiPreemtionByIsr = FALSE;
+ spi_preemtion_by_isr = FALSE;
if (itDisable)
{
/* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -533,32 +541,32 @@
itDisable = FALSE;
}
- for (i = 0; i < numberOfDevices; i++)
+ for (i = 0; i < number_of_devices; i++)
{
- spiTxBursts[0][i] = L6474_NOP;
- spiTxBursts[1][i] = L6474_NOP;
- spiTxBursts[2][i] = L6474_NOP;
- spiTxBursts[3][i] = L6474_NOP;
- spiRxBursts[1][i] = 0;
- spiRxBursts[2][i] = 0;
- spiRxBursts[3][i] = 0;
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_tx_bursts[3][i] = L6474_NOP;
+ spi_rx_bursts[1][i] = 0;
+ spi_rx_bursts[2][i] = 0;
+ spi_rx_bursts[3][i] = 0;
}
switch (parameter)
{
case L6474_ABS_POS: ;
case L6474_MARK:
- spiTxBursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
maxArgumentNbBytes = 3;
break;
case L6474_EL_POS: ;
case L6474_CONFIG: ;
case L6474_STATUS:
- spiTxBursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
maxArgumentNbBytes = 2;
break;
default:
- spiTxBursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
+ spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )| (parameter);
maxArgumentNbBytes = 1;
}
@@ -566,18 +574,18 @@
/* pre-emption by ISR and SPI transfers*/
L6474_DisableIrq();
itDisable = TRUE;
- } while (spiPreemtionByIsr); // check pre-emption by ISR
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
i < L6474_CMD_ARG_MAX_NB_BYTES;
i++)
{
- L6474_WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
+ L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
}
- spiRxData = ((uint32_t)spiRxBursts[1][spiIndex] << 16) |
- (spiRxBursts[2][spiIndex] << 8) |
- (spiRxBursts[3][spiIndex]);
+ spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) |
+ (spi_rx_bursts[2][spiIndex] << 8) |
+ (spi_rx_bursts[3][spiIndex]);
/* re-enable L6474_EnableIrq after SPI transfers*/
L6474_EnableIrq();
@@ -596,12 +604,12 @@
{
uint32_t i;
uint16_t status;
- uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
bool itDisable = FALSE;
do
{
- spiPreemtionByIsr = FALSE;
+ spi_preemtion_by_isr = FALSE;
if (itDisable)
{
/* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -609,27 +617,27 @@
itDisable = FALSE;
}
- for (i = 0; i < numberOfDevices; i++)
+ for (i = 0; i < number_of_devices; i++)
{
- spiTxBursts[0][i] = L6474_NOP;
- spiTxBursts[1][i] = L6474_NOP;
- spiTxBursts[2][i] = L6474_NOP;
- spiRxBursts[1][i] = 0;
- spiRxBursts[2][i] = 0;
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_rx_bursts[1][i] = 0;
+ spi_rx_bursts[2][i] = 0;
}
- spiTxBursts[0][spiIndex] = L6474_GET_STATUS;
+ spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
/* Disable interruption before checking */
/* pre-emption by ISR and SPI transfers*/
L6474_DisableIrq();
itDisable = TRUE;
- } while (spiPreemtionByIsr); // check pre-emption by ISR
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
{
- L6474_WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
+ L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
}
- status = (spiRxBursts[1][spiIndex] << 8) | (spiRxBursts[2][spiIndex]);
+ status = (spi_rx_bursts[1][spiIndex] << 8) | (spi_rx_bursts[2][spiIndex]);
/* re-enable L6474_EnableIrq after SPI transfers*/
L6474_EnableIrq();
@@ -656,11 +664,11 @@
{
uint32_t i;
uint8_t maxArgumentNbBytes = 0;
- uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
bool itDisable = FALSE;
do
{
- spiPreemtionByIsr = FALSE;
+ spi_preemtion_by_isr = FALSE;
if (itDisable)
{
/* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -668,48 +676,48 @@
itDisable = FALSE;
}
- for (i = 0; i < numberOfDevices; i++)
+ for (i = 0; i < number_of_devices; i++)
{
- spiTxBursts[0][i] = L6474_NOP;
- spiTxBursts[1][i] = L6474_NOP;
- spiTxBursts[2][i] = L6474_NOP;
- spiTxBursts[3][i] = L6474_NOP;
+ spi_tx_bursts[0][i] = L6474_NOP;
+ spi_tx_bursts[1][i] = L6474_NOP;
+ spi_tx_bursts[2][i] = L6474_NOP;
+ spi_tx_bursts[3][i] = L6474_NOP;
}
switch (parameter)
{
case L6474_ABS_POS: ;
case L6474_MARK:
- spiTxBursts[0][spiIndex] = parameter;
- spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
- spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ spi_tx_bursts[0][spiIndex] = parameter;
+ spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
+ spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
maxArgumentNbBytes = 3;
break;
case L6474_EL_POS: ;
case L6474_CONFIG:
- spiTxBursts[1][spiIndex] = parameter;
- spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
+ spi_tx_bursts[1][spiIndex] = parameter;
+ spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
maxArgumentNbBytes = 2;
break;
default:
- spiTxBursts[2][spiIndex] = parameter;
+ spi_tx_bursts[2][spiIndex] = parameter;
maxArgumentNbBytes = 1;
break;
}
- spiTxBursts[3][spiIndex] = (uint8_t)(value);
+ spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
/* Disable interruption before checking */
/* pre-emption by ISR and SPI transfers*/
L6474_DisableIrq();
itDisable = TRUE;
- } while (spiPreemtionByIsr); // check pre-emption by ISR
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
/* SPI transfer */
for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
i < L6474_CMD_ARG_MAX_NB_BYTES;
i++)
{
- L6474_WriteBytes(&spiTxBursts[i][0],&spiRxBursts[i][0]);
+ L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
}
/* re-enable L6474_EnableIrq after SPI transfers*/
L6474_EnableIrq();
@@ -757,7 +765,7 @@
}
/* Eventually deactivate motor */
- if (devicePrm.motionState != INACTIVE)
+ if (device_prm.motionState != INACTIVE)
{
L6474_HardStop();
}
@@ -779,7 +787,7 @@
**********************************************************/
motorDir_t L6474::L6474_GetDirection(void)
{
- return devicePrm.direction;
+ return device_prm.direction;
}
/**********************************************************
@@ -791,9 +799,9 @@
**********************************************************/
void L6474::L6474_SetDirection(motorDir_t direction)
{
- if (devicePrm.motionState == INACTIVE)
+ if (device_prm.motionState == INACTIVE)
{
- devicePrm.direction = direction;
+ device_prm.direction = direction;
L6474_SetDirectionGpio(direction);
}
}
@@ -814,7 +822,7 @@
newSpeed = L6474_MAX_PWM_FREQ;
}
- devicePrm.speed = newSpeed;
+ device_prm.speed = newSpeed;
L6474_PwmSetFreq(newSpeed);
}
@@ -838,23 +846,23 @@
uint32_t reqDecSteps;
/* compute the number of steps to get the targeted speed */
- uint16_t minSpeed = devicePrm.minSpeed;
- reqAccSteps = (devicePrm.maxSpeed - minSpeed);
- reqAccSteps *= (devicePrm.maxSpeed + minSpeed);
+ uint16_t minSpeed = device_prm.minSpeed;
+ reqAccSteps = (device_prm.maxSpeed - minSpeed);
+ reqAccSteps *= (device_prm.maxSpeed + minSpeed);
reqDecSteps = reqAccSteps;
- reqAccSteps /= (uint32_t)devicePrm.acceleration;
+ reqAccSteps /= (uint32_t)device_prm.acceleration;
reqAccSteps /= 2;
/* compute the number of steps to stop */
- reqDecSteps /= (uint32_t)devicePrm.deceleration;
+ reqDecSteps /= (uint32_t)device_prm.deceleration;
reqDecSteps /= 2;
if(( reqAccSteps + reqDecSteps ) > nbSteps)
{
/* Triangular move */
/* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
- uint32_t dec = devicePrm.deceleration;
- uint32_t acc = devicePrm.acceleration;
+ uint32_t dec = device_prm.deceleration;
+ uint32_t acc = device_prm.acceleration;
reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
if (reqDecSteps > 1)
@@ -869,8 +877,8 @@
{
reqAccSteps = 0;
}
- devicePrm.endAccPos = reqAccSteps;
- devicePrm.startDecPos = reqDecSteps;
+ device_prm.endAccPos = reqAccSteps;
+ device_prm.startDecPos = reqDecSteps;
}
else
{
@@ -878,8 +886,8 @@
/* accelerating phase to endAccPos */
/* steady phase from endAccPos to startDecPos */
/* decelerating from startDecPos to stepsToTake*/
- devicePrm.endAccPos = reqAccSteps;
- devicePrm.startDecPos = nbSteps - reqDecSteps - 1;
+ device_prm.endAccPos = reqAccSteps;
+ device_prm.startDecPos = nbSteps - reqDecSteps - 1;
}
}
@@ -916,9 +924,9 @@
**********************************************************/
void L6474::L6474_ErrorHandler(uint16_t error)
{
- if (errorHandlerCallback != 0)
+ if (error_handler_callback != 0)
{
- (void) errorHandlerCallback(error);
+ (void) error_handler_callback(error);
}
else
{
@@ -936,11 +944,11 @@
{
uint32_t i;
bool itDisable = FALSE;
- uint8_t spiIndex = numberOfDevices - deviceInstance - 1;
+ uint8_t spiIndex = number_of_devices - device_instance - 1;
do
{
- spiPreemtionByIsr = FALSE;
+ spi_preemtion_by_isr = FALSE;
if (itDisable)
{
/* re-enable L6474_EnableIrq if disable in previous iteration */
@@ -948,19 +956,19 @@
itDisable = FALSE;
}
- for (i = 0; i < numberOfDevices; i++)
+ for (i = 0; i < number_of_devices; i++)
{
- spiTxBursts[3][i] = L6474_NOP;
+ spi_tx_bursts[3][i] = L6474_NOP;
}
- spiTxBursts[3][spiIndex] = param;
+ spi_tx_bursts[3][spiIndex] = param;
/* Disable interruption before checking */
/* pre-emption by ISR and SPI transfers*/
L6474_DisableIrq();
itDisable = TRUE;
- } while (spiPreemtionByIsr); // check pre-emption by ISR
+ } while (spi_preemtion_by_isr); // check pre-emption by ISR
- L6474_WriteBytes(&spiTxBursts[3][0], &spiRxBursts[3][0]);
+ L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]);
/* re-enable L6474_EnableIrq after SPI transfers*/
L6474_EnableIrq();
@@ -982,7 +990,7 @@
L6474_CmdSetParam(
L6474_MARK,
0);
- switch (deviceInstance)
+ switch (device_instance)
{
case 0:
L6474_CmdSetParam(
@@ -1086,6 +1094,65 @@
}
/**********************************************************
+ * @brief Sets the registers of the L6474 to initialization values.
+ * @param init Initialization structure.
+ * @retval None.
+ **********************************************************/
+void L6474::L6474_SetRegisterToInitializationValues(L6474_InitTypeDef *init)
+{
+ L6474_CmdSetParam(
+ L6474_ABS_POS,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_EL_POS,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_MARK,
+ 0
+ );
+ L6474_CmdSetParam(
+ L6474_TVAL,
+ L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
+ );
+ L6474_CmdSetParam(
+ L6474_T_FAST,
+ (uint8_t) init->maximum_fast_decay_time |
+ (uint8_t) init->fall_time
+ );
+ L6474_CmdSetParam(
+ L6474_TON_MIN,
+ L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
+ );
+ L6474_CmdSetParam(
+ L6474_TOFF_MIN,
+ L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
+ );
+ L6474_CmdSetParam(
+ L6474_OCD_TH,
+ init->overcurrent_threshold
+ );
+ L6474_CmdSetParam(
+ L6474_STEP_MODE,
+ (uint8_t) init->step_selection |
+ (uint8_t) init->sync_selection
+ );
+ L6474_CmdSetParam(
+ L6474_ALARM_EN,
+ init->alarm
+ );
+ L6474_CmdSetParam(
+ L6474_CONFIG,
+ (uint16_t) init->clock |
+ (uint16_t) init->torque_regulation_method |
+ (uint16_t) init->overcurrent_shutwdown |
+ (uint16_t) init->slew_rate |
+ (uint16_t) init->target_swicthing_period
+ );
+}
+
+/**********************************************************
* @brief Sets the parameters of the device to predefined values
* from l6474_target_config.h
* @param None
@@ -1093,42 +1160,40 @@
**********************************************************/
void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
{
- switch (deviceInstance)
+ switch (device_instance)
{
case 0:
- devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
- devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
- devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
- devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
break;
case 1:
- devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
- devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
- devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
- devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
break;
case 2:
- devicePrm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
- devicePrm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
- devicePrm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
- devicePrm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
+ device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
+ device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
+ device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
+ device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
break;
}
- devicePrm.accu = 0;
- devicePrm.currentPosition = 0;
- devicePrm.endAccPos = 0;
- devicePrm.relativePos = 0;
- devicePrm.startDecPos = 0;
- devicePrm.stepsToTake = 0;
- devicePrm.speed = 0;
- devicePrm.commandExecuted = NO_CMD;
- devicePrm.direction = FORWARD;
- devicePrm.motionState = INACTIVE;
-
- L6474_SetRegisterToPredefinedValues();
+ device_prm.accu = 0;
+ device_prm.currentPosition = 0;
+ device_prm.endAccPos = 0;
+ device_prm.relativePos = 0;
+ device_prm.startDecPos = 0;
+ device_prm.stepsToTake = 0;
+ device_prm.speed = 0;
+ device_prm.commandExecuted = NO_CMD;
+ device_prm.direction = FORWARD;
+ device_prm.motionState = INACTIVE;
}
/**********************************************************
@@ -1140,17 +1205,17 @@
{
/* Enable L6474 powerstage */
L6474_CmdEnable();
- if (devicePrm.endAccPos != 0)
+ if (device_prm.endAccPos != 0)
{
- devicePrm.motionState = ACCELERATING;
+ device_prm.motionState = ACCELERATING;
}
else
{
- devicePrm.motionState = DECELERATING;
+ device_prm.motionState = DECELERATING;
}
- devicePrm.accu = 0;
- devicePrm.relativePos = 0;
- L6474_ApplySpeed(devicePrm.minSpeed);
+ device_prm.accu = 0;
+ device_prm.relativePos = 0;
+ L6474_ApplySpeed(device_prm.minSpeed);
}
/**********************************************************
@@ -1161,107 +1226,107 @@
void L6474::L6474_StepClockHandler(void)
{
/* Set isr flag */
- isrFlag = TRUE;
+ isr_flag = TRUE;
/* Incrementation of the relative position */
- devicePrm.relativePos++;
+ device_prm.relativePos++;
- switch (devicePrm.motionState)
+ switch (device_prm.motionState)
{
case ACCELERATING:
{
- uint32_t relPos = devicePrm.relativePos;
- uint32_t endAccPos = devicePrm.endAccPos;
- uint16_t speed = devicePrm.speed;
- uint32_t acc = ((uint32_t)devicePrm.acceleration << 16);
+ uint32_t relPos = device_prm.relativePos;
+ uint32_t endAccPos = device_prm.endAccPos;
+ uint16_t speed = device_prm.speed;
+ uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
- if ((devicePrm.commandExecuted == SOFT_STOP_CMD)||
- ((devicePrm.commandExecuted != RUN_CMD)&&
- (relPos == devicePrm.startDecPos)))
+ if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relPos == device_prm.startDecPos)))
{
- devicePrm.motionState = DECELERATING;
- devicePrm.accu = 0;
+ device_prm.motionState = DECELERATING;
+ device_prm.accu = 0;
}
- else if ((speed >= devicePrm.maxSpeed)||
- ((devicePrm.commandExecuted != RUN_CMD)&&
+ else if ((speed >= device_prm.maxSpeed)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
(relPos == endAccPos)))
{
- devicePrm.motionState = STEADY;
+ device_prm.motionState = STEADY;
}
else
{
bool speedUpdated = FALSE;
/* Go on accelerating */
if (speed == 0) speed =1;
- devicePrm.accu += acc / speed;
- while (devicePrm.accu >= (0X10000L))
+ device_prm.accu += acc / speed;
+ while (device_prm.accu >= (0X10000L))
{
- devicePrm.accu -= (0X10000L);
+ device_prm.accu -= (0X10000L);
speed +=1;
speedUpdated = TRUE;
}
if (speedUpdated)
{
- if (speed > devicePrm.maxSpeed)
+ if (speed > device_prm.maxSpeed)
{
- speed = devicePrm.maxSpeed;
+ speed = device_prm.maxSpeed;
}
- devicePrm.speed = speed;
- L6474_ApplySpeed(devicePrm.speed);
+ device_prm.speed = speed;
+ L6474_ApplySpeed(device_prm.speed);
}
}
break;
}
case STEADY:
{
- uint16_t maxSpeed = devicePrm.maxSpeed;
- uint32_t relativePos = devicePrm.relativePos;
- if ((devicePrm.commandExecuted == SOFT_STOP_CMD)||
- ((devicePrm.commandExecuted != RUN_CMD)&&
- (relativePos >= (devicePrm.startDecPos))) ||
- ((devicePrm.commandExecuted == RUN_CMD)&&
- (devicePrm.speed > maxSpeed)))
+ uint16_t maxSpeed = device_prm.maxSpeed;
+ uint32_t relativePos = device_prm.relativePos;
+ if ((device_prm.commandExecuted == SOFT_STOP_CMD)||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relativePos >= (device_prm.startDecPos))) ||
+ ((device_prm.commandExecuted == RUN_CMD)&&
+ (device_prm.speed > maxSpeed)))
{
- devicePrm.motionState = DECELERATING;
- devicePrm.accu = 0;
+ device_prm.motionState = DECELERATING;
+ device_prm.accu = 0;
}
- else if ((devicePrm.commandExecuted == RUN_CMD)&&
- (devicePrm.speed < maxSpeed))
+ else if ((device_prm.commandExecuted == RUN_CMD)&&
+ (device_prm.speed < maxSpeed))
{
- devicePrm.motionState = ACCELERATING;
- devicePrm.accu = 0;
+ device_prm.motionState = ACCELERATING;
+ device_prm.accu = 0;
}
break;
}
case DECELERATING:
{
- uint32_t relativePos = devicePrm.relativePos;
- uint16_t speed = devicePrm.speed;
- uint32_t deceleration = ((uint32_t)devicePrm.deceleration << 16);
- if (((devicePrm.commandExecuted == SOFT_STOP_CMD)&&(speed <= devicePrm.minSpeed))||
- ((devicePrm.commandExecuted != RUN_CMD)&&
- (relativePos >= devicePrm.stepsToTake)))
+ uint32_t relativePos = device_prm.relativePos;
+ uint16_t speed = device_prm.speed;
+ uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
+ if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <= device_prm.minSpeed))||
+ ((device_prm.commandExecuted != RUN_CMD)&&
+ (relativePos >= device_prm.stepsToTake)))
{
/* Motion process complete */
L6474_HardStop();
}
- else if ((devicePrm.commandExecuted == RUN_CMD)&&
- (speed <= devicePrm.maxSpeed))
+ else if ((device_prm.commandExecuted == RUN_CMD)&&
+ (speed <= device_prm.maxSpeed))
{
- devicePrm.motionState = STEADY;
+ device_prm.motionState = STEADY;
}
else
{
/* Go on decelerating */
- if (speed > devicePrm.minSpeed)
+ if (speed > device_prm.minSpeed)
{
bool speedUpdated = FALSE;
if (speed == 0) speed =1;
- devicePrm.accu += deceleration / speed;
- while (devicePrm.accu >= (0X10000L))
+ device_prm.accu += deceleration / speed;
+ while (device_prm.accu >= (0X10000L))
{
- devicePrm.accu -= (0X10000L);
+ device_prm.accu -= (0X10000L);
if (speed > 1)
{
speed -=1;
@@ -1271,12 +1336,12 @@
if (speedUpdated)
{
- if (speed < devicePrm.minSpeed)
+ if (speed < device_prm.minSpeed)
{
- speed = devicePrm.minSpeed;
+ speed = device_prm.minSpeed;
}
- devicePrm.speed = speed;
- L6474_ApplySpeed(devicePrm.speed);
+ device_prm.speed = speed;
+ L6474_ApplySpeed(device_prm.speed);
}
}
}
@@ -1288,28 +1353,47 @@
}
}
/* Set isr flag */
- isrFlag = FALSE;
+ isr_flag = FALSE;
+}
+
+/**********************************************************
+ * @brief Converts current in mA to values for TVAL register
+ * @param[in] current_mA current in mA
+ * @retval value for TVAL register
+ **********************************************************/
+float L6474::L6474_Tval_Current_to_Par(float current_mA)
+{
+ return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
}
/**********************************************************
- * @brief Converts mA in compatible values for TVAL register
- * @param[in] Tval
- * @retval TVAL values
+ * @brief Converts values from TVAL register to mA
+ * @param[in] Tval value from TVAL register
+ * @retval current in mA
**********************************************************/
-uint8_t L6474::L6474_Tval_Current_to_Par(double Tval)
+float L6474::L6474_Par_to_Tval_Current(float Tval)
{
- return ((uint8_t)(((Tval - 31.25)/31.25)+0.5));
+ return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
}
/**********************************************************
- * @brief Convert time in us in compatible values
- * for TON_MIN register
- * @param[in] Tmin
- * @retval TON_MIN values
+ * @brief Convert time in us to values for TON_MIN register
+ * @param[in] ton_min_us time in us
+ * @retval value for TON_MIN register
**********************************************************/
-uint8_t L6474::L6474_Tmin_Time_to_Par(double Tmin)
+float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
{
- return ((uint8_t)(((Tmin - 0.5)*2)+0.5));
+ return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
+}
+
+/**********************************************************
+ * @brief Convert values for TON_MIN register to time in us
+ * @param[in] Tmin value from TON_MIN register
+ * @retval time in us
+ **********************************************************/
+float L6474::L6474_Par_to_Tmin_Time(float Tmin)
+{
+ return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
}
/**********************************************************
@@ -1325,9 +1409,9 @@
L6474_ErrorHandler(L6474_ERROR_1);
}
- if (isrFlag)
+ if (isr_flag)
{
- spiPreemtionByIsr = TRUE;
+ spi_preemtion_by_isr = TRUE;
}
}