X_NUCLEO_IHM01A1_Disabled_Control - Personal fork of the library for direct control i…

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Arkadi Rafalovich / X_NUCLEO_IHM01A1_Disabled_Control

Personal fork of the library for direct control instead of library control

Dependencies: X_NUCLEO_COMMON

Dependents: Thesis_Rotating_Platform

Fork of X_NUCLEO_IHM01A1 by Arkadi Rafalovich

Components/l6474/l6474_class.cpp@22:ed3a6990a6eb, 2016-02-09 (annotated)

Committer:: Davidroid
Date:: Tue Feb 09 10:53:31 2016 +0000
Revision:: 22:ed3a6990a6eb
Parent:: 21:83138e702683
Child:: 23:58264db10a17

+ Updated with the new template's syntax.

Who changed what in which revision?

User	Revision	Line number	New contents of line
Davidroid	0:2887415a46cd	1	/**
Davidroid	0:2887415a46cd	2	******************************************************************************
Davidroid	0:2887415a46cd	3	* @file l6474_class.cpp
Davidroid	0:2887415a46cd	4	* @author IPC Rennes
Davidroid	0:2887415a46cd	5	* @version V1.5.0
Davidroid	0:2887415a46cd	6	* @date November 12, 2014
Davidroid	0:2887415a46cd	7	* @brief L6474 driver (fully integrated microstepping motor driver)
Davidroid	0:2887415a46cd	8	* @note (C) COPYRIGHT 2014 STMicroelectronics
Davidroid	0:2887415a46cd	9	******************************************************************************
Davidroid	0:2887415a46cd	10	* @attention
Davidroid	0:2887415a46cd	11	*
Davidroid	0:2887415a46cd	12	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid	0:2887415a46cd	13	*
Davidroid	0:2887415a46cd	14	* Redistribution and use in source and binary forms, with or without modification,
Davidroid	0:2887415a46cd	15	* are permitted provided that the following conditions are met:
Davidroid	0:2887415a46cd	16	* 1. Redistributions of source code must retain the above copyright notice,
Davidroid	0:2887415a46cd	17	* this list of conditions and the following disclaimer.
Davidroid	0:2887415a46cd	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid	0:2887415a46cd	19	* this list of conditions and the following disclaimer in the documentation
Davidroid	0:2887415a46cd	20	* and/or other materials provided with the distribution.
Davidroid	0:2887415a46cd	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid	0:2887415a46cd	22	* may be used to endorse or promote products derived from this software
Davidroid	0:2887415a46cd	23	* without specific prior written permission.
Davidroid	0:2887415a46cd	24	*
Davidroid	0:2887415a46cd	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid	0:2887415a46cd	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid	0:2887415a46cd	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid	0:2887415a46cd	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid	0:2887415a46cd	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid	0:2887415a46cd	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid	0:2887415a46cd	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid	0:2887415a46cd	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid	0:2887415a46cd	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid	0:2887415a46cd	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid	0:2887415a46cd	35	*
Davidroid	0:2887415a46cd	36	******************************************************************************
Davidroid	0:2887415a46cd	37	*/
Davidroid	0:2887415a46cd	38
Davidroid	0:2887415a46cd	39
Davidroid	0:2887415a46cd	40	/* Generated with Stm32CubeTOO -----------------------------------------------*/
Davidroid	0:2887415a46cd	41
Davidroid	0:2887415a46cd	42
Davidroid	0:2887415a46cd	43	/* Revision ------------------------------------------------------------------*/
Davidroid	0:2887415a46cd	44	/*
Davidroid	0:2887415a46cd	45	Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid	0:2887415a46cd	46	Branch/Trunk/Tag: trunk
Davidroid	0:2887415a46cd	47	Based on: X-CUBE-SPN1/trunk/Drivers/BSP/Components/l6474/l6474.c
Davidroid	14:73823a4344be	48	Revision: 0
Davidroid	0:2887415a46cd	49	*/
Davidroid	0:2887415a46cd	50
Davidroid	0:2887415a46cd	51
Davidroid	0:2887415a46cd	52	/* Includes ------------------------------------------------------------------*/
Davidroid	0:2887415a46cd	53
Davidroid	0:2887415a46cd	54	#include "l6474_class.h"
Davidroid	0:2887415a46cd	55
Davidroid	1:b38ebb8ea286	56
Davidroid	15:40470df81d9a	57	/* Definitions ---------------------------------------------------------------*/
Davidroid	0:2887415a46cd	58
Davidroid	15:40470df81d9a	59	/* Error while initialising the SPI. */
Davidroid	5:d3c78f12a78d	60	#define L6474_ERROR_0 (0x8000)
Davidroid	15:40470df81d9a	61
Davidroid	15:40470df81d9a	62	/* Error of bad SPI transaction. */
Davidroid	5:d3c78f12a78d	63	#define L6474_ERROR_1 (0x8001)
Davidroid	0:2887415a46cd	64
Davidroid	15:40470df81d9a	65	/* Maximum number of steps. */
Davidroid	5:d3c78f12a78d	66	#define MAX_STEPS (0x7FFFFFFF)
Davidroid	0:2887415a46cd	67
Davidroid	15:40470df81d9a	68	/* Maximum frequency of the PWMs in Hz. */
Davidroid	0:2887415a46cd	69	#define L6474_MAX_PWM_FREQ (10000)
Davidroid	0:2887415a46cd	70
Davidroid	15:40470df81d9a	71	/* Minimum frequency of the PWMs in Hz. */
Davidroid	0:2887415a46cd	72	#define L6474_MIN_PWM_FREQ (2)
Davidroid	0:2887415a46cd	73
Davidroid	0:2887415a46cd	74
Davidroid	15:40470df81d9a	75	/* Variables ----------------------------------------------------------------*/
Davidroid	0:2887415a46cd	76
Davidroid	0:2887415a46cd	77	/* Number of devices. */
Davidroid	18:2d6ab2b93685	78	uint8_t L6474::number_of_devices = 0;
Davidroid	0:2887415a46cd	79
Davidroid	6:a47569fc7534	80	/* ISR flags used to restart an interrupted SPI transfer when an error is reported. */
Davidroid	18:2d6ab2b93685	81	bool L6474::spi_preemtion_by_isr = FALSE;
Davidroid	18:2d6ab2b93685	82	bool L6474::isr_flag = FALSE;
Davidroid	6:a47569fc7534	83
Davidroid	5:d3c78f12a78d	84	/* SPI Transmission for Daisy-Chain Configuration. */
Davidroid	18:2d6ab2b93685	85	uint8_t L6474::spi_tx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
Davidroid	18:2d6ab2b93685	86	uint8_t L6474::spi_rx_bursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
Davidroid	5:d3c78f12a78d	87
Davidroid	0:2887415a46cd	88
Davidroid	1:b38ebb8ea286	89	/* Methods -------------------------------------------------------------------*/
Davidroid	0:2887415a46cd	90
Davidroid	5:d3c78f12a78d	91	/**********************************************************
Davidroid	0:2887415a46cd	92	* @brief Attaches a user callback to the error Handler.
Davidroid	0:2887415a46cd	93	* The call back will be then called each time the library
Davidroid	0:2887415a46cd	94	* detects an error
Davidroid	0:2887415a46cd	95	* @param[in] callback Name of the callback to attach
Davidroid	0:2887415a46cd	96	* to the error Hanlder
Davidroid	0:2887415a46cd	97	* @retval None
Davidroid	0:2887415a46cd	98	**********************************************************/
Davidroid	0:2887415a46cd	99	void L6474::L6474_AttachErrorHandler(void (*callback)(uint16_t error))
Davidroid	0:2887415a46cd	100	{
Davidroid	18:2d6ab2b93685	101	error_handler_callback = (void (*)(uint16_t error)) callback;
Davidroid	0:2887415a46cd	102	}
Davidroid	0:2887415a46cd	103
Davidroid	5:d3c78f12a78d	104	/**********************************************************
Davidroid	0:2887415a46cd	105	* @brief Starts the L6474 library
Davidroid	18:2d6ab2b93685	106	* @param init Initialization structure.
Davidroid	18:2d6ab2b93685	107	* @retval COMPONENT_OK in case of success.
Davidroid	0:2887415a46cd	108	**********************************************************/
Davidroid	22:ed3a6990a6eb	109	Status_t L6474::L6474_Init(void *init)
Davidroid	0:2887415a46cd	110	{
Davidroid	0:2887415a46cd	111	/* Initialise the PWMs used for the Step clocks ----------------------------*/
Davidroid	0:2887415a46cd	112	L6474_PwmInit();
Davidroid	0:2887415a46cd	113
Davidroid	0:2887415a46cd	114	/* Initialise the L6474s ------------------------------------------------*/
Davidroid	0:2887415a46cd	115
Davidroid	0:2887415a46cd	116	/* Standby-reset deactivation */
Davidroid	0:2887415a46cd	117	L6474_ReleaseReset();
Davidroid	0:2887415a46cd	118
Davidroid	0:2887415a46cd	119	/* Let a delay after reset */
Davidroid	0:2887415a46cd	120	L6474_Delay(1);
Davidroid	0:2887415a46cd	121
Davidroid	18:2d6ab2b93685	122	/* Set device parameters to the predefined values from "l6474_target_config.h". */
Davidroid	0:2887415a46cd	123	L6474_SetDeviceParamsToPredefinedValues();
Davidroid	0:2887415a46cd	124
Davidroid	18:2d6ab2b93685	125	if (init == NULL)
Davidroid	18:2d6ab2b93685	126	/* Set device registers to the predefined values from "l6474_target_config.h". */
Davidroid	18:2d6ab2b93685	127	L6474_SetRegisterToPredefinedValues();
Davidroid	18:2d6ab2b93685	128	else
Davidroid	18:2d6ab2b93685	129	/* Set device registers to the passed initialization values. */
Davidroid	22:ed3a6990a6eb	130	L6474_SetRegisterToInitializationValues((L6474_Init_t *) init);
Davidroid	18:2d6ab2b93685	131
Davidroid	0:2887415a46cd	132	/* Disable L6474 powerstage */
Davidroid	0:2887415a46cd	133	L6474_CmdDisable();
Davidroid	0:2887415a46cd	134
Davidroid	0:2887415a46cd	135	/* Get Status to clear flags after start up */
Davidroid	0:2887415a46cd	136	L6474_CmdGetStatus();
Davidroid	0:2887415a46cd	137
Davidroid	0:2887415a46cd	138	return COMPONENT_OK;
Davidroid	0:2887415a46cd	139	}
Davidroid	0:2887415a46cd	140
Davidroid	5:d3c78f12a78d	141	/**********************************************************
Davidroid	0:2887415a46cd	142	* @brief Read id
Davidroid	0:2887415a46cd	143	* @param id pointer to the identifier to be read.
Davidroid	18:2d6ab2b93685	144	* @retval COMPONENT_OK in case of success.
Davidroid	0:2887415a46cd	145	**********************************************************/
Davidroid	22:ed3a6990a6eb	146	Status_t L6474::L6474_ReadID(uint8_t *id)
Davidroid	0:2887415a46cd	147	{
Davidroid	18:2d6ab2b93685	148	*id = device_instance;
Davidroid	0:2887415a46cd	149
Davidroid	0:2887415a46cd	150	return COMPONENT_OK;
Davidroid	0:2887415a46cd	151	}
Davidroid	0:2887415a46cd	152
Davidroid	5:d3c78f12a78d	153	/**********************************************************
Davidroid	0:2887415a46cd	154	* @brief Returns the acceleration of the specified device
Davidroid	0:2887415a46cd	155	* @retval Acceleration in pps^2
Davidroid	0:2887415a46cd	156	**********************************************************/
Davidroid	0:2887415a46cd	157	uint16_t L6474::L6474_GetAcceleration(void)
Davidroid	0:2887415a46cd	158	{
Davidroid	18:2d6ab2b93685	159	return (device_prm.acceleration);
Davidroid	0:2887415a46cd	160	}
Davidroid	0:2887415a46cd	161
Davidroid	5:d3c78f12a78d	162	/**********************************************************
Davidroid	0:2887415a46cd	163	* @brief Returns the current speed of the specified device
Davidroid	0:2887415a46cd	164	* @retval Speed in pps
Davidroid	0:2887415a46cd	165	**********************************************************/
Davidroid	0:2887415a46cd	166	uint16_t L6474::L6474_GetCurrentSpeed(void)
Davidroid	0:2887415a46cd	167	{
Davidroid	18:2d6ab2b93685	168	return device_prm.speed;
Davidroid	0:2887415a46cd	169	}
Davidroid	0:2887415a46cd	170
Davidroid	5:d3c78f12a78d	171	/**********************************************************
Davidroid	0:2887415a46cd	172	* @brief Returns the deceleration of the specified device
Davidroid	0:2887415a46cd	173	* @retval Deceleration in pps^2
Davidroid	0:2887415a46cd	174	**********************************************************/
Davidroid	0:2887415a46cd	175	uint16_t L6474::L6474_GetDeceleration(void)
Davidroid	0:2887415a46cd	176	{
Davidroid	18:2d6ab2b93685	177	return (device_prm.deceleration);
Davidroid	0:2887415a46cd	178	}
Davidroid	0:2887415a46cd	179
Davidroid	5:d3c78f12a78d	180	/**********************************************************
Davidroid	0:2887415a46cd	181	* @brief Returns the device state
Davidroid	0:2887415a46cd	182	* @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
Davidroid	0:2887415a46cd	183	**********************************************************/
Davidroid	0:2887415a46cd	184	motorState_t L6474::L6474_GetDeviceState(void)
Davidroid	0:2887415a46cd	185	{
Davidroid	18:2d6ab2b93685	186	return device_prm.motionState;
Davidroid	0:2887415a46cd	187	}
Davidroid	0:2887415a46cd	188
Davidroid	5:d3c78f12a78d	189	/**********************************************************
Davidroid	0:2887415a46cd	190	* @brief Returns the FW version of the library
Davidroid	0:2887415a46cd	191	* @param None
Davidroid	0:2887415a46cd	192	* @retval L6474_FW_VERSION
Davidroid	0:2887415a46cd	193	**********************************************************/
Davidroid	0:2887415a46cd	194	uint8_t L6474::L6474_GetFwVersion(void)
Davidroid	0:2887415a46cd	195	{
Davidroid	0:2887415a46cd	196	return (L6474_FW_VERSION);
Davidroid	0:2887415a46cd	197	}
Davidroid	0:2887415a46cd	198
Davidroid	5:d3c78f12a78d	199	/**********************************************************
Davidroid	0:2887415a46cd	200	* @brief Returns the mark position of the specified device
Davidroid	0:2887415a46cd	201	* @retval Mark register value converted in a 32b signed integer
Davidroid	0:2887415a46cd	202	**********************************************************/
Davidroid	0:2887415a46cd	203	int32_t L6474::L6474_GetMark(void)
Davidroid	0:2887415a46cd	204	{
Davidroid	0:2887415a46cd	205	return L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
Davidroid	0:2887415a46cd	206	}
Davidroid	0:2887415a46cd	207
Davidroid	5:d3c78f12a78d	208	/**********************************************************
Davidroid	0:2887415a46cd	209	* @brief Returns the max speed of the specified device
Davidroid	0:2887415a46cd	210	* @retval maxSpeed in pps
Davidroid	0:2887415a46cd	211	**********************************************************/
Davidroid	0:2887415a46cd	212	uint16_t L6474::L6474_GetMaxSpeed(void)
Davidroid	0:2887415a46cd	213	{
Davidroid	18:2d6ab2b93685	214	return (device_prm.maxSpeed);
Davidroid	0:2887415a46cd	215	}
Davidroid	0:2887415a46cd	216
Davidroid	5:d3c78f12a78d	217	/**********************************************************
Davidroid	0:2887415a46cd	218	* @brief Returns the min speed of the specified device
Davidroid	0:2887415a46cd	219	* @retval minSpeed in pps
Davidroid	0:2887415a46cd	220	**********************************************************/
Davidroid	0:2887415a46cd	221	uint16_t L6474::L6474_GetMinSpeed(void)
Davidroid	0:2887415a46cd	222	{
Davidroid	18:2d6ab2b93685	223	return (device_prm.minSpeed);
Davidroid	0:2887415a46cd	224	}
Davidroid	0:2887415a46cd	225
Davidroid	5:d3c78f12a78d	226	/**********************************************************
Davidroid	0:2887415a46cd	227	* @brief Returns the ABS_POSITION of the specified device
Davidroid	0:2887415a46cd	228	* @retval ABS_POSITION register value converted in a 32b signed integer
Davidroid	0:2887415a46cd	229	**********************************************************/
Davidroid	0:2887415a46cd	230	int32_t L6474::L6474_GetPosition(void)
Davidroid	0:2887415a46cd	231	{
Davidroid	0:2887415a46cd	232	return L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
Davidroid	0:2887415a46cd	233	}
Davidroid	0:2887415a46cd	234
Davidroid	5:d3c78f12a78d	235	/**********************************************************
Davidroid	0:2887415a46cd	236	* @brief Requests the motor to move to the home position (ABS_POSITION = 0)
Davidroid	0:2887415a46cd	237	* @retval None
Davidroid	0:2887415a46cd	238	**********************************************************/
Davidroid	0:2887415a46cd	239	void L6474::L6474_GoHome(void)
Davidroid	0:2887415a46cd	240	{
Davidroid	0:2887415a46cd	241	L6474_GoTo(0);
Davidroid	0:2887415a46cd	242	}
Davidroid	0:2887415a46cd	243
Davidroid	5:d3c78f12a78d	244	/**********************************************************
Davidroid	0:2887415a46cd	245	* @brief Requests the motor to move to the mark position
Davidroid	0:2887415a46cd	246	* @retval None
Davidroid	0:2887415a46cd	247	**********************************************************/
Davidroid	0:2887415a46cd	248	void L6474::L6474_GoMark(void)
Davidroid	0:2887415a46cd	249	{
Davidroid	0:2887415a46cd	250	uint32_t mark;
Davidroid	0:2887415a46cd	251
Davidroid	0:2887415a46cd	252	mark = L6474_ConvertPosition(L6474_CmdGetParam(L6474_MARK));
Davidroid	0:2887415a46cd	253	L6474_GoTo(mark);
Davidroid	0:2887415a46cd	254	}
Davidroid	0:2887415a46cd	255
Davidroid	5:d3c78f12a78d	256	/**********************************************************
Davidroid	0:2887415a46cd	257	* @brief Requests the motor to move to the specified position
Davidroid	0:2887415a46cd	258	* @param[in] targetPosition absolute position in steps
Davidroid	0:2887415a46cd	259	* @retval None
Davidroid	0:2887415a46cd	260	**********************************************************/
Davidroid	0:2887415a46cd	261	void L6474::L6474_GoTo(int32_t targetPosition)
Davidroid	0:2887415a46cd	262	{
Davidroid	5:d3c78f12a78d	263	motorDir_t direction;
Davidroid	0:2887415a46cd	264	int32_t steps;
Davidroid	0:2887415a46cd	265
Davidroid	0:2887415a46cd	266	/* Eventually deactivate motor */
Davidroid	18:2d6ab2b93685	267	if (device_prm.motionState != INACTIVE)
Davidroid	0:2887415a46cd	268	{
Davidroid	0:2887415a46cd	269	L6474_HardStop();
Davidroid	0:2887415a46cd	270	}
Davidroid	0:2887415a46cd	271
Davidroid	0:2887415a46cd	272	/* Get current position */
Davidroid	18:2d6ab2b93685	273	device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
Davidroid	0:2887415a46cd	274
Davidroid	0:2887415a46cd	275	/* Compute the number of steps to perform */
Davidroid	18:2d6ab2b93685	276	steps = targetPosition - device_prm.currentPosition;
Davidroid	0:2887415a46cd	277
Davidroid	0:2887415a46cd	278	if (steps >= 0)
Davidroid	0:2887415a46cd	279	{
Davidroid	18:2d6ab2b93685	280	device_prm.stepsToTake = steps;
Davidroid	5:d3c78f12a78d	281	direction = FORWARD;
Davidroid	0:2887415a46cd	282	}
Davidroid	0:2887415a46cd	283	else
Davidroid	0:2887415a46cd	284	{
Davidroid	18:2d6ab2b93685	285	device_prm.stepsToTake = -steps;
Davidroid	5:d3c78f12a78d	286	direction = BACKWARD;
Davidroid	0:2887415a46cd	287	}
Davidroid	0:2887415a46cd	288
Davidroid	0:2887415a46cd	289	if (steps != 0)
Davidroid	0:2887415a46cd	290	{
Davidroid	18:2d6ab2b93685	291	device_prm.commandExecuted = MOVE_CMD;
Davidroid	0:2887415a46cd	292
Davidroid	0:2887415a46cd	293	/* Direction setup */
Davidroid	0:2887415a46cd	294	L6474_SetDirection(direction);
Davidroid	0:2887415a46cd	295
Davidroid	18:2d6ab2b93685	296	L6474_ComputeSpeedProfile(device_prm.stepsToTake);
Davidroid	0:2887415a46cd	297
Davidroid	0:2887415a46cd	298	/* Motor activation */
Davidroid	0:2887415a46cd	299	L6474_StartMovement();
Davidroid	0:2887415a46cd	300	}
Davidroid	0:2887415a46cd	301	}
Davidroid	0:2887415a46cd	302
Davidroid	5:d3c78f12a78d	303	/**********************************************************
Davidroid	0:2887415a46cd	304	* @brief Immediatly stops the motor and disable the power bridge
Davidroid	0:2887415a46cd	305	* @retval None
Davidroid	0:2887415a46cd	306	**********************************************************/
Davidroid	0:2887415a46cd	307	void L6474::L6474_HardStop(void)
Davidroid	0:2887415a46cd	308	{
Davidroid	0:2887415a46cd	309	/* Disable corresponding PWM */
Davidroid	0:2887415a46cd	310	L6474_PwmStop();
Davidroid	0:2887415a46cd	311
Davidroid	0:2887415a46cd	312	/* Set inactive state */
Davidroid	18:2d6ab2b93685	313	device_prm.motionState = INACTIVE;
Davidroid	18:2d6ab2b93685	314	device_prm.commandExecuted = NO_CMD;
Davidroid	18:2d6ab2b93685	315	device_prm.stepsToTake = MAX_STEPS;
Davidroid	0:2887415a46cd	316	}
Davidroid	0:2887415a46cd	317
Davidroid	5:d3c78f12a78d	318	/**********************************************************
Davidroid	0:2887415a46cd	319	* @brief Moves the motor of the specified number of steps
Davidroid	0:2887415a46cd	320	* @param[in] direction FORWARD or BACKWARD
Davidroid	0:2887415a46cd	321	* @param[in] stepCount Number of steps to perform
Davidroid	0:2887415a46cd	322	* @retval None
Davidroid	0:2887415a46cd	323	**********************************************************/
Davidroid	5:d3c78f12a78d	324	void L6474::L6474_Move(motorDir_t direction, uint32_t stepCount)
Davidroid	0:2887415a46cd	325	{
Davidroid	0:2887415a46cd	326	/* Eventually deactivate motor */
Davidroid	18:2d6ab2b93685	327	if (device_prm.motionState != INACTIVE)
Davidroid	0:2887415a46cd	328	{
Davidroid	0:2887415a46cd	329	L6474_HardStop();
Davidroid	0:2887415a46cd	330	}
Davidroid	0:2887415a46cd	331
Davidroid	0:2887415a46cd	332	if (stepCount != 0)
Davidroid	0:2887415a46cd	333	{
Davidroid	18:2d6ab2b93685	334	device_prm.stepsToTake = stepCount;
Davidroid	0:2887415a46cd	335
Davidroid	18:2d6ab2b93685	336	device_prm.commandExecuted = MOVE_CMD;
Davidroid	0:2887415a46cd	337
Davidroid	18:2d6ab2b93685	338	device_prm.currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(L6474_ABS_POS));
Davidroid	0:2887415a46cd	339
Davidroid	0:2887415a46cd	340	/* Direction setup */
Davidroid	0:2887415a46cd	341	L6474_SetDirection(direction);
Davidroid	0:2887415a46cd	342
Davidroid	0:2887415a46cd	343	L6474_ComputeSpeedProfile(stepCount);
Davidroid	0:2887415a46cd	344
Davidroid	0:2887415a46cd	345	/* Motor activation */
Davidroid	0:2887415a46cd	346	L6474_StartMovement();
Davidroid	0:2887415a46cd	347	}
Davidroid	0:2887415a46cd	348	}
Davidroid	0:2887415a46cd	349
Davidroid	5:d3c78f12a78d	350	/**********************************************************
Davidroid	0:2887415a46cd	351	* @brief Runs the motor. It will accelerate from the min
Davidroid	0:2887415a46cd	352	* speed up to the max speed by using the device acceleration.
Davidroid	0:2887415a46cd	353	* @param[in] direction FORWARD or BACKWARD
Davidroid	0:2887415a46cd	354	* @retval None
Davidroid	0:2887415a46cd	355	**********************************************************/
Davidroid	5:d3c78f12a78d	356	void L6474::L6474_Run(motorDir_t direction)
Davidroid	0:2887415a46cd	357	{
Davidroid	0:2887415a46cd	358	/* Eventually deactivate motor */
Davidroid	18:2d6ab2b93685	359	if (device_prm.motionState != INACTIVE)
Davidroid	0:2887415a46cd	360	{
Davidroid	0:2887415a46cd	361	L6474_HardStop();
Davidroid	0:2887415a46cd	362	}
Davidroid	0:2887415a46cd	363
Davidroid	0:2887415a46cd	364	/* Direction setup */
Davidroid	0:2887415a46cd	365	L6474_SetDirection(direction);
Davidroid	0:2887415a46cd	366
Davidroid	18:2d6ab2b93685	367	device_prm.commandExecuted = RUN_CMD;
Davidroid	0:2887415a46cd	368
Davidroid	0:2887415a46cd	369	/* Motor activation */
Davidroid	0:2887415a46cd	370	L6474_StartMovement();
Davidroid	0:2887415a46cd	371	}
Davidroid	0:2887415a46cd	372
Davidroid	5:d3c78f12a78d	373	/**********************************************************
Davidroid	0:2887415a46cd	374	* @brief Changes the acceleration of the specified device
Davidroid	0:2887415a46cd	375	* @param[in] newAcc New acceleration to apply in pps^2
Davidroid	0:2887415a46cd	376	* @retval true if the command is successfully executed, else false
Davidroid	0:2887415a46cd	377	* @note The command is not performed is the device is executing
Davidroid	0:2887415a46cd	378	* a MOVE or GOTO command (but it can be used during a RUN command)
Davidroid	0:2887415a46cd	379	**********************************************************/
Davidroid	0:2887415a46cd	380	bool L6474::L6474_SetAcceleration(uint16_t newAcc)
Davidroid	0:2887415a46cd	381	{
Davidroid	0:2887415a46cd	382	bool cmdExecuted = FALSE;
Davidroid	0:2887415a46cd	383	if ((newAcc != 0)&&
Davidroid	18:2d6ab2b93685	384	((device_prm.motionState == INACTIVE)\|\|
Davidroid	18:2d6ab2b93685	385	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	0:2887415a46cd	386	{
Davidroid	18:2d6ab2b93685	387	device_prm.acceleration = newAcc;
Davidroid	0:2887415a46cd	388	cmdExecuted = TRUE;
Davidroid	0:2887415a46cd	389	}
Davidroid	0:2887415a46cd	390	return cmdExecuted;
Davidroid	0:2887415a46cd	391	}
Davidroid	0:2887415a46cd	392
Davidroid	5:d3c78f12a78d	393	/**********************************************************
Davidroid	0:2887415a46cd	394	* @brief Changes the deceleration of the specified device
Davidroid	0:2887415a46cd	395	* @param[in] newDec New deceleration to apply in pps^2
Davidroid	0:2887415a46cd	396	* @retval true if the command is successfully executed, else false
Davidroid	0:2887415a46cd	397	* @note The command is not performed is the device is executing
Davidroid	0:2887415a46cd	398	* a MOVE or GOTO command (but it can be used during a RUN command)
Davidroid	0:2887415a46cd	399	**********************************************************/
Davidroid	0:2887415a46cd	400	bool L6474::L6474_SetDeceleration(uint16_t newDec)
Davidroid	0:2887415a46cd	401	{
Davidroid	0:2887415a46cd	402	bool cmdExecuted = FALSE;
Davidroid	0:2887415a46cd	403	if ((newDec != 0)&&
Davidroid	18:2d6ab2b93685	404	((device_prm.motionState == INACTIVE)\|\|
Davidroid	18:2d6ab2b93685	405	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	0:2887415a46cd	406	{
Davidroid	18:2d6ab2b93685	407	device_prm.deceleration = newDec;
Davidroid	0:2887415a46cd	408	cmdExecuted = TRUE;
Davidroid	0:2887415a46cd	409	}
Davidroid	0:2887415a46cd	410	return cmdExecuted;
Davidroid	0:2887415a46cd	411	}
Davidroid	0:2887415a46cd	412
Davidroid	5:d3c78f12a78d	413	/**********************************************************
Davidroid	0:2887415a46cd	414	* @brief Set current position to be the Home position (ABS pos set to 0)
Davidroid	0:2887415a46cd	415	* @retval None
Davidroid	0:2887415a46cd	416	**********************************************************/
Davidroid	0:2887415a46cd	417	void L6474::L6474_SetHome(void)
Davidroid	0:2887415a46cd	418	{
Davidroid	0:2887415a46cd	419	L6474_CmdSetParam(L6474_ABS_POS, 0);
Davidroid	0:2887415a46cd	420	}
Davidroid	0:2887415a46cd	421
Davidroid	5:d3c78f12a78d	422	/**********************************************************
Davidroid	0:2887415a46cd	423	* @brief Sets current position to be the Mark position
Davidroid	0:2887415a46cd	424	* @retval None
Davidroid	0:2887415a46cd	425	**********************************************************/
Davidroid	0:2887415a46cd	426	void L6474::L6474_SetMark(void)
Davidroid	0:2887415a46cd	427	{
Davidroid	0:2887415a46cd	428	uint32_t mark = L6474_CmdGetParam(L6474_ABS_POS);
Davidroid	0:2887415a46cd	429	L6474_CmdSetParam(L6474_MARK, mark);
Davidroid	0:2887415a46cd	430	}
Davidroid	0:2887415a46cd	431
Davidroid	5:d3c78f12a78d	432	/**********************************************************
Davidroid	0:2887415a46cd	433	* @brief Changes the max speed of the specified device
Davidroid	0:2887415a46cd	434	* @param[in] newMaxSpeed New max speed to apply in pps
Davidroid	0:2887415a46cd	435	* @retval true if the command is successfully executed, else false
Davidroid	0:2887415a46cd	436	* @note The command is not performed is the device is executing
Davidroid	0:2887415a46cd	437	* a MOVE or GOTO command (but it can be used during a RUN command).
Davidroid	0:2887415a46cd	438	**********************************************************/
Davidroid	0:2887415a46cd	439	bool L6474::L6474_SetMaxSpeed(uint16_t newMaxSpeed)
Davidroid	0:2887415a46cd	440	{
Davidroid	0:2887415a46cd	441	bool cmdExecuted = FALSE;
Davidroid	0:2887415a46cd	442	if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
Davidroid	0:2887415a46cd	443	(newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
Davidroid	18:2d6ab2b93685	444	(device_prm.minSpeed <= newMaxSpeed) &&
Davidroid	18:2d6ab2b93685	445	((device_prm.motionState == INACTIVE)\|\|
Davidroid	18:2d6ab2b93685	446	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	0:2887415a46cd	447	{
Davidroid	18:2d6ab2b93685	448	device_prm.maxSpeed = newMaxSpeed;
Davidroid	0:2887415a46cd	449	cmdExecuted = TRUE;
Davidroid	0:2887415a46cd	450	}
Davidroid	0:2887415a46cd	451	return cmdExecuted;
Davidroid	0:2887415a46cd	452	}
Davidroid	0:2887415a46cd	453
Davidroid	5:d3c78f12a78d	454	/**********************************************************
Davidroid	0:2887415a46cd	455	* @brief Changes the min speed of the specified device
Davidroid	0:2887415a46cd	456	* @param[in] newMinSpeed New min speed to apply in pps
Davidroid	0:2887415a46cd	457	* @retval true if the command is successfully executed, else false
Davidroid	0:2887415a46cd	458	* @note The command is not performed is the device is executing
Davidroid	0:2887415a46cd	459	* a MOVE or GOTO command (but it can be used during a RUN command).
Davidroid	0:2887415a46cd	460	**********************************************************/
Davidroid	0:2887415a46cd	461	bool L6474::L6474_SetMinSpeed(uint16_t newMinSpeed)
Davidroid	0:2887415a46cd	462	{
Davidroid	0:2887415a46cd	463	bool cmdExecuted = FALSE;
Davidroid	0:2887415a46cd	464	if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
Davidroid	0:2887415a46cd	465	(newMinSpeed <= L6474_MAX_PWM_FREQ) &&
Davidroid	18:2d6ab2b93685	466	(newMinSpeed <= device_prm.maxSpeed) &&
Davidroid	18:2d6ab2b93685	467	((device_prm.motionState == INACTIVE)\|\|
Davidroid	18:2d6ab2b93685	468	(device_prm.commandExecuted == RUN_CMD)))
Davidroid	0:2887415a46cd	469	{
Davidroid	18:2d6ab2b93685	470	device_prm.minSpeed = newMinSpeed;
Davidroid	0:2887415a46cd	471	cmdExecuted = TRUE;
Davidroid	0:2887415a46cd	472	}
Davidroid	0:2887415a46cd	473	return cmdExecuted;
Davidroid	0:2887415a46cd	474	}
Davidroid	0:2887415a46cd	475
Davidroid	5:d3c78f12a78d	476	/**********************************************************
Davidroid	0:2887415a46cd	477	* @brief Stops the motor by using the device deceleration
Davidroid	0:2887415a46cd	478	* @retval true if the command is successfully executed, else false
Davidroid	0:2887415a46cd	479	* @note The command is not performed is the device is in INACTIVE state.
Davidroid	0:2887415a46cd	480	**********************************************************/
Davidroid	0:2887415a46cd	481	bool L6474::L6474_SoftStop(void)
Davidroid	0:2887415a46cd	482	{
Davidroid	0:2887415a46cd	483	bool cmdExecuted = FALSE;
Davidroid	18:2d6ab2b93685	484	if (device_prm.motionState != INACTIVE)
Davidroid	0:2887415a46cd	485	{
Davidroid	18:2d6ab2b93685	486	device_prm.commandExecuted = SOFT_STOP_CMD;
Davidroid	0:2887415a46cd	487	cmdExecuted = TRUE;
Davidroid	0:2887415a46cd	488	}
Davidroid	0:2887415a46cd	489	return (cmdExecuted);
Davidroid	0:2887415a46cd	490	}
Davidroid	0:2887415a46cd	491
Davidroid	5:d3c78f12a78d	492	/**********************************************************
Davidroid	1:b38ebb8ea286	493	* @brief Locks until the device state becomes Inactive
Davidroid	1:b38ebb8ea286	494	* @retval None
Davidroid	1:b38ebb8ea286	495	**********************************************************/
Davidroid	1:b38ebb8ea286	496	void L6474::L6474_WaitWhileActive(void)
Davidroid	1:b38ebb8ea286	497	{
Davidroid	1:b38ebb8ea286	498	/* Wait while motor is running */
Davidroid	1:b38ebb8ea286	499	while (L6474_GetDeviceState() != INACTIVE);
Davidroid	1:b38ebb8ea286	500	}
Davidroid	1:b38ebb8ea286	501
Davidroid	5:d3c78f12a78d	502	/**********************************************************
Davidroid	0:2887415a46cd	503	* @brief Issue the Disable command to the L6474 of the specified device
Davidroid	0:2887415a46cd	504	* @retval None
Davidroid	0:2887415a46cd	505	**********************************************************/
Davidroid	0:2887415a46cd	506	void L6474::L6474_CmdDisable(void)
Davidroid	0:2887415a46cd	507	{
Davidroid	0:2887415a46cd	508	L6474_SendCommand(L6474_DISABLE);
Davidroid	0:2887415a46cd	509	}
Davidroid	0:2887415a46cd	510
Davidroid	5:d3c78f12a78d	511	/**********************************************************
Davidroid	0:2887415a46cd	512	* @brief Issues the Enable command to the L6474 of the specified device
Davidroid	0:2887415a46cd	513	* @retval None
Davidroid	0:2887415a46cd	514	**********************************************************/
Davidroid	0:2887415a46cd	515	void L6474::L6474_CmdEnable(void)
Davidroid	0:2887415a46cd	516	{
Davidroid	0:2887415a46cd	517	L6474_SendCommand(L6474_ENABLE);
Davidroid	0:2887415a46cd	518	}
Davidroid	0:2887415a46cd	519
Davidroid	5:d3c78f12a78d	520	/**********************************************************
Davidroid	0:2887415a46cd	521	* @brief Issues the GetParam command to the L6474 of the specified device
Davidroid	7:f7e0c3621f77	522	* @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
Davidroid	0:2887415a46cd	523	* @retval Register value
Davidroid	0:2887415a46cd	524	**********************************************************/
Davidroid	7:f7e0c3621f77	525	uint32_t L6474::L6474_CmdGetParam(L6474_Registers_t parameter)
Davidroid	0:2887415a46cd	526	{
Davidroid	0:2887415a46cd	527	uint32_t i;
Davidroid	0:2887415a46cd	528	uint32_t spiRxData;
Davidroid	0:2887415a46cd	529	uint8_t maxArgumentNbBytes = 0;
Davidroid	18:2d6ab2b93685	530	uint8_t spiIndex = number_of_devices - device_instance - 1;
Davidroid	0:2887415a46cd	531	bool itDisable = FALSE;
Davidroid	0:2887415a46cd	532
Davidroid	0:2887415a46cd	533	do
Davidroid	0:2887415a46cd	534	{
Davidroid	18:2d6ab2b93685	535	spi_preemtion_by_isr = FALSE;
Davidroid	0:2887415a46cd	536	if (itDisable)
Davidroid	0:2887415a46cd	537	{
Davidroid	0:2887415a46cd	538	/* re-enable L6474_EnableIrq if disable in previous iteration */
Davidroid	0:2887415a46cd	539	L6474_EnableIrq();
Davidroid	0:2887415a46cd	540	itDisable = FALSE;
Davidroid	0:2887415a46cd	541	}
Davidroid	0:2887415a46cd	542
Davidroid	18:2d6ab2b93685	543	for (i = 0; i < number_of_devices; i++)
Davidroid	5:d3c78f12a78d	544	{
Davidroid	18:2d6ab2b93685	545	spi_tx_bursts[0][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	546	spi_tx_bursts[1][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	547	spi_tx_bursts[2][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	548	spi_tx_bursts[3][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	549	spi_rx_bursts[1][i] = 0;
Davidroid	18:2d6ab2b93685	550	spi_rx_bursts[2][i] = 0;
Davidroid	18:2d6ab2b93685	551	spi_rx_bursts[3][i] = 0;
Davidroid	5:d3c78f12a78d	552	}
Davidroid	0:2887415a46cd	553
Davidroid	7:f7e0c3621f77	554	switch (parameter)
Davidroid	0:2887415a46cd	555	{
Davidroid	0:2887415a46cd	556	case L6474_ABS_POS: ;
Davidroid	0:2887415a46cd	557	case L6474_MARK:
Davidroid	18:2d6ab2b93685	558	spi_tx_bursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (parameter);
Davidroid	0:2887415a46cd	559	maxArgumentNbBytes = 3;
Davidroid	0:2887415a46cd	560	break;
Davidroid	0:2887415a46cd	561	case L6474_EL_POS: ;
Davidroid	0:2887415a46cd	562	case L6474_CONFIG: ;
Davidroid	0:2887415a46cd	563	case L6474_STATUS:
Davidroid	18:2d6ab2b93685	564	spi_tx_bursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (parameter);
Davidroid	0:2887415a46cd	565	maxArgumentNbBytes = 2;
Davidroid	0:2887415a46cd	566	break;
Davidroid	0:2887415a46cd	567	default:
Davidroid	18:2d6ab2b93685	568	spi_tx_bursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (parameter);
Davidroid	0:2887415a46cd	569	maxArgumentNbBytes = 1;
Davidroid	0:2887415a46cd	570	}
Davidroid	0:2887415a46cd	571
Davidroid	0:2887415a46cd	572	/* Disable interruption before checking */
Davidroid	0:2887415a46cd	573	/* pre-emption by ISR and SPI transfers*/
Davidroid	0:2887415a46cd	574	L6474_DisableIrq();
Davidroid	0:2887415a46cd	575	itDisable = TRUE;
Davidroid	18:2d6ab2b93685	576	} while (spi_preemtion_by_isr); // check pre-emption by ISR
Davidroid	0:2887415a46cd	577
Davidroid	0:2887415a46cd	578	for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
Davidroid	0:2887415a46cd	579	i < L6474_CMD_ARG_MAX_NB_BYTES;
Davidroid	0:2887415a46cd	580	i++)
Davidroid	0:2887415a46cd	581	{
Davidroid	18:2d6ab2b93685	582	L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
Davidroid	0:2887415a46cd	583	}
Davidroid	0:2887415a46cd	584
Davidroid	18:2d6ab2b93685	585	spiRxData = ((uint32_t)spi_rx_bursts[1][spiIndex] << 16) \|
Davidroid	18:2d6ab2b93685	586	(spi_rx_bursts[2][spiIndex] << 8) \|
Davidroid	18:2d6ab2b93685	587	(spi_rx_bursts[3][spiIndex]);
Davidroid	0:2887415a46cd	588
Davidroid	0:2887415a46cd	589	/* re-enable L6474_EnableIrq after SPI transfers*/
Davidroid	0:2887415a46cd	590	L6474_EnableIrq();
Davidroid	0:2887415a46cd	591
Davidroid	0:2887415a46cd	592	return (spiRxData);
Davidroid	0:2887415a46cd	593	}
Davidroid	0:2887415a46cd	594
Davidroid	5:d3c78f12a78d	595	/**********************************************************
Davidroid	0:2887415a46cd	596	* @brief Issues the GetStatus command to the L6474 of the specified device
Davidroid	0:2887415a46cd	597	* @retval Status Register value
Davidroid	0:2887415a46cd	598	* @note Once the GetStatus command is performed, the flags of the status register
Davidroid	0:2887415a46cd	599	* are reset. This is not the case when the status register is read with the
Davidroid	7:f7e0c3621f77	600	* GetParam command (via the functions L6474ReadStatusRegister or L6474_CmdGetParam).
Davidroid	0:2887415a46cd	601	**********************************************************/
Davidroid	0:2887415a46cd	602	uint16_t L6474::L6474_CmdGetStatus(void)
Davidroid	0:2887415a46cd	603	{
Davidroid	0:2887415a46cd	604	uint32_t i;
Davidroid	0:2887415a46cd	605	uint16_t status;
Davidroid	18:2d6ab2b93685	606	uint8_t spiIndex = number_of_devices - device_instance - 1;
Davidroid	0:2887415a46cd	607	bool itDisable = FALSE;
Davidroid	0:2887415a46cd	608
Davidroid	0:2887415a46cd	609	do
Davidroid	0:2887415a46cd	610	{
Davidroid	18:2d6ab2b93685	611	spi_preemtion_by_isr = FALSE;
Davidroid	0:2887415a46cd	612	if (itDisable)
Davidroid	0:2887415a46cd	613	{
Davidroid	0:2887415a46cd	614	/* re-enable L6474_EnableIrq if disable in previous iteration */
Davidroid	0:2887415a46cd	615	L6474_EnableIrq();
Davidroid	0:2887415a46cd	616	itDisable = FALSE;
Davidroid	0:2887415a46cd	617	}
Davidroid	0:2887415a46cd	618
Davidroid	18:2d6ab2b93685	619	for (i = 0; i < number_of_devices; i++)
Davidroid	5:d3c78f12a78d	620	{
Davidroid	18:2d6ab2b93685	621	spi_tx_bursts[0][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	622	spi_tx_bursts[1][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	623	spi_tx_bursts[2][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	624	spi_rx_bursts[1][i] = 0;
Davidroid	18:2d6ab2b93685	625	spi_rx_bursts[2][i] = 0;
Davidroid	5:d3c78f12a78d	626	}
Davidroid	18:2d6ab2b93685	627	spi_tx_bursts[0][spiIndex] = L6474_GET_STATUS;
Davidroid	0:2887415a46cd	628
Davidroid	0:2887415a46cd	629	/* Disable interruption before checking */
Davidroid	0:2887415a46cd	630	/* pre-emption by ISR and SPI transfers*/
Davidroid	0:2887415a46cd	631	L6474_DisableIrq();
Davidroid	0:2887415a46cd	632	itDisable = TRUE;
Davidroid	18:2d6ab2b93685	633	} while (spi_preemtion_by_isr); // check pre-emption by ISR
Davidroid	0:2887415a46cd	634
Davidroid	0:2887415a46cd	635	for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
Davidroid	0:2887415a46cd	636	{
Davidroid	18:2d6ab2b93685	637	L6474_WriteBytes(&spi_tx_bursts[i][0], &spi_rx_bursts[i][0]);
Davidroid	0:2887415a46cd	638	}
Davidroid	18:2d6ab2b93685	639	status = (spi_rx_bursts[1][spiIndex] << 8) \| (spi_rx_bursts[2][spiIndex]);
Davidroid	0:2887415a46cd	640
Davidroid	0:2887415a46cd	641	/* re-enable L6474_EnableIrq after SPI transfers*/
Davidroid	0:2887415a46cd	642	L6474_EnableIrq();
Davidroid	0:2887415a46cd	643
Davidroid	0:2887415a46cd	644	return (status);
Davidroid	0:2887415a46cd	645	}
Davidroid	0:2887415a46cd	646
Davidroid	5:d3c78f12a78d	647	/**********************************************************
Davidroid	0:2887415a46cd	648	* @brief Issues the Nop command to the L6474 of the specified device
Davidroid	0:2887415a46cd	649	* @retval None
Davidroid	0:2887415a46cd	650	**********************************************************/
Davidroid	0:2887415a46cd	651	void L6474::L6474_CmdNop(void)
Davidroid	0:2887415a46cd	652	{
Davidroid	0:2887415a46cd	653	L6474_SendCommand(L6474_NOP);
Davidroid	0:2887415a46cd	654	}
Davidroid	0:2887415a46cd	655
Davidroid	5:d3c78f12a78d	656	/**********************************************************
Davidroid	0:2887415a46cd	657	* @brief Issues the SetParam command to the L6474 of the specified device
Davidroid	7:f7e0c3621f77	658	* @param[in] parameter Register adress (L6474_ABS_POS, L6474_MARK,...)
Davidroid	0:2887415a46cd	659	* @param[in] value Value to set in the register
Davidroid	0:2887415a46cd	660	* @retval None
Davidroid	0:2887415a46cd	661	**********************************************************/
Davidroid	7:f7e0c3621f77	662	void L6474::L6474_CmdSetParam(L6474_Registers_t parameter, uint32_t value)
Davidroid	0:2887415a46cd	663	{
Davidroid	0:2887415a46cd	664	uint32_t i;
Davidroid	0:2887415a46cd	665	uint8_t maxArgumentNbBytes = 0;
Davidroid	18:2d6ab2b93685	666	uint8_t spiIndex = number_of_devices - device_instance - 1;
Davidroid	0:2887415a46cd	667	bool itDisable = FALSE;
Davidroid	0:2887415a46cd	668	do
Davidroid	0:2887415a46cd	669	{
Davidroid	18:2d6ab2b93685	670	spi_preemtion_by_isr = FALSE;
Davidroid	0:2887415a46cd	671	if (itDisable)
Davidroid	0:2887415a46cd	672	{
Davidroid	0:2887415a46cd	673	/* re-enable L6474_EnableIrq if disable in previous iteration */
Davidroid	0:2887415a46cd	674	L6474_EnableIrq();
Davidroid	0:2887415a46cd	675	itDisable = FALSE;
Davidroid	0:2887415a46cd	676	}
Davidroid	0:2887415a46cd	677
Davidroid	18:2d6ab2b93685	678	for (i = 0; i < number_of_devices; i++)
Davidroid	5:d3c78f12a78d	679	{
Davidroid	18:2d6ab2b93685	680	spi_tx_bursts[0][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	681	spi_tx_bursts[1][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	682	spi_tx_bursts[2][i] = L6474_NOP;
Davidroid	18:2d6ab2b93685	683	spi_tx_bursts[3][i] = L6474_NOP;
Davidroid	5:d3c78f12a78d	684	}
Davidroid	0:2887415a46cd	685
Davidroid	7:f7e0c3621f77	686	switch (parameter)
Davidroid	0:2887415a46cd	687	{
Davidroid	0:2887415a46cd	688	case L6474_ABS_POS: ;
Davidroid	0:2887415a46cd	689	case L6474_MARK:
Davidroid	18:2d6ab2b93685	690	spi_tx_bursts[0][spiIndex] = parameter;
Davidroid	18:2d6ab2b93685	691	spi_tx_bursts[1][spiIndex] = (uint8_t)(value >> 16);
Davidroid	18:2d6ab2b93685	692	spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
Davidroid	0:2887415a46cd	693	maxArgumentNbBytes = 3;
Davidroid	0:2887415a46cd	694	break;
Davidroid	0:2887415a46cd	695	case L6474_EL_POS: ;
Davidroid	0:2887415a46cd	696	case L6474_CONFIG:
Davidroid	18:2d6ab2b93685	697	spi_tx_bursts[1][spiIndex] = parameter;
Davidroid	18:2d6ab2b93685	698	spi_tx_bursts[2][spiIndex] = (uint8_t)(value >> 8);
Davidroid	0:2887415a46cd	699	maxArgumentNbBytes = 2;
Davidroid	0:2887415a46cd	700	break;
Davidroid	0:2887415a46cd	701	default:
Davidroid	18:2d6ab2b93685	702	spi_tx_bursts[2][spiIndex] = parameter;
Davidroid	0:2887415a46cd	703	maxArgumentNbBytes = 1;
Davidroid	0:2887415a46cd	704	break;
Davidroid	0:2887415a46cd	705	}
Davidroid	18:2d6ab2b93685	706	spi_tx_bursts[3][spiIndex] = (uint8_t)(value);
Davidroid	0:2887415a46cd	707
Davidroid	0:2887415a46cd	708	/* Disable interruption before checking */
Davidroid	0:2887415a46cd	709	/* pre-emption by ISR and SPI transfers*/
Davidroid	0:2887415a46cd	710	L6474_DisableIrq();
Davidroid	0:2887415a46cd	711	itDisable = TRUE;
Davidroid	18:2d6ab2b93685	712	} while (spi_preemtion_by_isr); // check pre-emption by ISR
Davidroid	0:2887415a46cd	713
Davidroid	0:2887415a46cd	714	/* SPI transfer */
Davidroid	0:2887415a46cd	715	for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
Davidroid	0:2887415a46cd	716	i < L6474_CMD_ARG_MAX_NB_BYTES;
Davidroid	0:2887415a46cd	717	i++)
Davidroid	0:2887415a46cd	718	{
Davidroid	18:2d6ab2b93685	719	L6474_WriteBytes(&spi_tx_bursts[i][0],&spi_rx_bursts[i][0]);
Davidroid	0:2887415a46cd	720	}
Davidroid	0:2887415a46cd	721	/* re-enable L6474_EnableIrq after SPI transfers*/
Davidroid	0:2887415a46cd	722	L6474_EnableIrq();
Davidroid	0:2887415a46cd	723	}
Davidroid	0:2887415a46cd	724
Davidroid	5:d3c78f12a78d	725	/**********************************************************
Davidroid	0:2887415a46cd	726	* @brief Reads the Status Register value
Davidroid	0:2887415a46cd	727	* @retval Status register valued
Davidroid	0:2887415a46cd	728	* @note The status register flags are not cleared
Davidroid	0:2887415a46cd	729	* at the difference with L6474CmdGetStatus()
Davidroid	0:2887415a46cd	730	**********************************************************/
Davidroid	0:2887415a46cd	731	uint16_t L6474::L6474_ReadStatusRegister(void)
Davidroid	0:2887415a46cd	732	{
Davidroid	0:2887415a46cd	733	return (L6474_CmdGetParam(L6474_STATUS));
Davidroid	0:2887415a46cd	734	}
Davidroid	0:2887415a46cd	735
Davidroid	5:d3c78f12a78d	736	/**********************************************************
Davidroid	0:2887415a46cd	737	* @brief Set the stepping mode
Davidroid	0:2887415a46cd	738	* @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
Davidroid	0:2887415a46cd	739	* @retval None
Davidroid	0:2887415a46cd	740	**********************************************************/
Davidroid	0:2887415a46cd	741	void L6474::L6474_SelectStepMode(motorStepMode_t stepMod)
Davidroid	0:2887415a46cd	742	{
Davidroid	0:2887415a46cd	743	uint8_t stepModeRegister;
Davidroid	0:2887415a46cd	744	L6474_STEP_SEL_t l6474StepMod;
Davidroid	0:2887415a46cd	745
Davidroid	0:2887415a46cd	746	switch (stepMod)
Davidroid	0:2887415a46cd	747	{
Davidroid	0:2887415a46cd	748	case STEP_MODE_FULL:
Davidroid	0:2887415a46cd	749	l6474StepMod = L6474_STEP_SEL_1;
Davidroid	0:2887415a46cd	750	break;
Davidroid	0:2887415a46cd	751	case STEP_MODE_HALF:
Davidroid	0:2887415a46cd	752	l6474StepMod = L6474_STEP_SEL_1_2;
Davidroid	0:2887415a46cd	753	break;
Davidroid	0:2887415a46cd	754	case STEP_MODE_1_4:
Davidroid	0:2887415a46cd	755	l6474StepMod = L6474_STEP_SEL_1_4;
Davidroid	0:2887415a46cd	756	break;
Davidroid	0:2887415a46cd	757	case STEP_MODE_1_8:
Davidroid	0:2887415a46cd	758	l6474StepMod = L6474_STEP_SEL_1_8;
Davidroid	0:2887415a46cd	759	break;
Davidroid	0:2887415a46cd	760	case STEP_MODE_1_16:
Davidroid	0:2887415a46cd	761	default:
Davidroid	0:2887415a46cd	762	l6474StepMod = L6474_STEP_SEL_1_16;
Davidroid	0:2887415a46cd	763	break;
Davidroid	0:2887415a46cd	764	}
Davidroid	0:2887415a46cd	765
Davidroid	0:2887415a46cd	766	/* Eventually deactivate motor */
Davidroid	18:2d6ab2b93685	767	if (device_prm.motionState != INACTIVE)
Davidroid	0:2887415a46cd	768	{
Davidroid	0:2887415a46cd	769	L6474_HardStop();
Davidroid	0:2887415a46cd	770	}
Davidroid	0:2887415a46cd	771
Davidroid	0:2887415a46cd	772	/* Read Step mode register and clear STEP_SEL field */
Davidroid	0:2887415a46cd	773	stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(L6474_STEP_MODE)) ;
Davidroid	0:2887415a46cd	774
Davidroid	0:2887415a46cd	775	/* Apply new step mode */
Davidroid	0:2887415a46cd	776	L6474_CmdSetParam(L6474_STEP_MODE, stepModeRegister \| (uint8_t)l6474StepMod);
Davidroid	0:2887415a46cd	777
Davidroid	0:2887415a46cd	778	/* Reset abs pos register */
Davidroid	0:2887415a46cd	779	L6474_SetHome();
Davidroid	0:2887415a46cd	780	}
Davidroid	0:2887415a46cd	781
Davidroid	5:d3c78f12a78d	782	/**********************************************************
Davidroid	5:d3c78f12a78d	783	* @brief Get the direction
Davidroid	5:d3c78f12a78d	784	* @param None
Davidroid	5:d3c78f12a78d	785	* @retval direction FORWARD or BACKWARD
Davidroid	4:83a1eb397a65	786	**********************************************************/
Davidroid	5:d3c78f12a78d	787	motorDir_t L6474::L6474_GetDirection(void)
Davidroid	4:83a1eb397a65	788	{
Davidroid	18:2d6ab2b93685	789	return device_prm.direction;
Davidroid	4:83a1eb397a65	790	}
Davidroid	4:83a1eb397a65	791
Davidroid	5:d3c78f12a78d	792	/**********************************************************
Davidroid	0:2887415a46cd	793	* @brief Specifies the direction
Davidroid	0:2887415a46cd	794	* @param[in] dir FORWARD or BACKWARD
Davidroid	0:2887415a46cd	795	* @note The direction change is only applied if the device
Davidroid	0:2887415a46cd	796	* is in INACTIVE state
Davidroid	0:2887415a46cd	797	* @retval None
Davidroid	0:2887415a46cd	798	**********************************************************/
Davidroid	5:d3c78f12a78d	799	void L6474::L6474_SetDirection(motorDir_t direction)
Davidroid	0:2887415a46cd	800	{
Davidroid	18:2d6ab2b93685	801	if (device_prm.motionState == INACTIVE)
Davidroid	0:2887415a46cd	802	{
Davidroid	18:2d6ab2b93685	803	device_prm.direction = direction;
Davidroid	5:d3c78f12a78d	804	L6474_SetDirectionGpio(direction);
Davidroid	0:2887415a46cd	805	}
Davidroid	0:2887415a46cd	806	}
Davidroid	0:2887415a46cd	807
Davidroid	5:d3c78f12a78d	808	/**********************************************************
Davidroid	0:2887415a46cd	809	* @brief Updates the current speed of the device
Davidroid	0:2887415a46cd	810	* @param[in] newSpeed in pps
Davidroid	0:2887415a46cd	811	* @retval None
Davidroid	0:2887415a46cd	812	**********************************************************/
Davidroid	0:2887415a46cd	813	void L6474::L6474_ApplySpeed(uint16_t newSpeed)
Davidroid	0:2887415a46cd	814	{
Davidroid	0:2887415a46cd	815	if (newSpeed < L6474_MIN_PWM_FREQ)
Davidroid	0:2887415a46cd	816	{
Davidroid	0:2887415a46cd	817	newSpeed = L6474_MIN_PWM_FREQ;
Davidroid	0:2887415a46cd	818	}
Davidroid	0:2887415a46cd	819	if (newSpeed > L6474_MAX_PWM_FREQ)
Davidroid	0:2887415a46cd	820	{
Davidroid	0:2887415a46cd	821	newSpeed = L6474_MAX_PWM_FREQ;
Davidroid	0:2887415a46cd	822	}
Davidroid	0:2887415a46cd	823
Davidroid	18:2d6ab2b93685	824	device_prm.speed = newSpeed;
Davidroid	0:2887415a46cd	825
Davidroid	0:2887415a46cd	826	L6474_PwmSetFreq(newSpeed);
Davidroid	0:2887415a46cd	827	}
Davidroid	0:2887415a46cd	828
Davidroid	5:d3c78f12a78d	829	/**********************************************************
Davidroid	0:2887415a46cd	830	* @brief Computes the speed profile according to the number of steps to move
Davidroid	0:2887415a46cd	831	* @param[in] nbSteps number of steps to perform
Davidroid	0:2887415a46cd	832	* @retval None
Davidroid	0:2887415a46cd	833	* @note Using the acceleration and deceleration of the device,
Davidroid	0:2887415a46cd	834	* this function determines the duration in steps of the acceleration,
Davidroid	0:2887415a46cd	835	* steady and deceleration phases.
Davidroid	0:2887415a46cd	836	* If the total number of steps to perform is big enough, a trapezoidal move
Davidroid	0:2887415a46cd	837	* is performed (i.e. there is a steady phase where the motor runs at the maximum
Davidroid	0:2887415a46cd	838	* speed.
Davidroid	0:2887415a46cd	839	* Else, a triangular move is performed (no steady phase: the maximum speed is never
Davidroid	0:2887415a46cd	840	* reached.
Davidroid	0:2887415a46cd	841	**********************************************************/
Davidroid	0:2887415a46cd	842	void L6474::L6474_ComputeSpeedProfile(uint32_t nbSteps)
Davidroid	0:2887415a46cd	843	{
Davidroid	0:2887415a46cd	844	uint32_t reqAccSteps;
Davidroid	0:2887415a46cd	845	uint32_t reqDecSteps;
Davidroid	0:2887415a46cd	846
Davidroid	0:2887415a46cd	847	/* compute the number of steps to get the targeted speed */
Davidroid	18:2d6ab2b93685	848	uint16_t minSpeed = device_prm.minSpeed;
Davidroid	18:2d6ab2b93685	849	reqAccSteps = (device_prm.maxSpeed - minSpeed);
Davidroid	18:2d6ab2b93685	850	reqAccSteps *= (device_prm.maxSpeed + minSpeed);
Davidroid	0:2887415a46cd	851	reqDecSteps = reqAccSteps;
Davidroid	18:2d6ab2b93685	852	reqAccSteps /= (uint32_t)device_prm.acceleration;
Davidroid	0:2887415a46cd	853	reqAccSteps /= 2;
Davidroid	0:2887415a46cd	854
Davidroid	0:2887415a46cd	855	/* compute the number of steps to stop */
Davidroid	18:2d6ab2b93685	856	reqDecSteps /= (uint32_t)device_prm.deceleration;
Davidroid	0:2887415a46cd	857	reqDecSteps /= 2;
Davidroid	0:2887415a46cd	858
Davidroid	0:2887415a46cd	859	if(( reqAccSteps + reqDecSteps ) > nbSteps)
Davidroid	0:2887415a46cd	860	{
Davidroid	0:2887415a46cd	861	/* Triangular move */
Davidroid	0:2887415a46cd	862	/* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
Davidroid	18:2d6ab2b93685	863	uint32_t dec = device_prm.deceleration;
Davidroid	18:2d6ab2b93685	864	uint32_t acc = device_prm.acceleration;
Davidroid	0:2887415a46cd	865
Davidroid	0:2887415a46cd	866	reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
Davidroid	0:2887415a46cd	867	if (reqDecSteps > 1)
Davidroid	0:2887415a46cd	868	{
Davidroid	0:2887415a46cd	869	reqAccSteps = reqDecSteps - 1;
Davidroid	0:2887415a46cd	870	if(reqAccSteps == 0)
Davidroid	0:2887415a46cd	871	{
Davidroid	0:2887415a46cd	872	reqAccSteps = 1;
Davidroid	0:2887415a46cd	873	}
Davidroid	0:2887415a46cd	874	}
Davidroid	0:2887415a46cd	875	else
Davidroid	0:2887415a46cd	876	{
Davidroid	0:2887415a46cd	877	reqAccSteps = 0;
Davidroid	0:2887415a46cd	878	}
Davidroid	18:2d6ab2b93685	879	device_prm.endAccPos = reqAccSteps;
Davidroid	18:2d6ab2b93685	880	device_prm.startDecPos = reqDecSteps;
Davidroid	0:2887415a46cd	881	}
Davidroid	0:2887415a46cd	882	else
Davidroid	0:2887415a46cd	883	{
Davidroid	0:2887415a46cd	884	/* Trapezoidal move */
Davidroid	0:2887415a46cd	885	/* accelerating phase to endAccPos */
Davidroid	0:2887415a46cd	886	/* steady phase from endAccPos to startDecPos */
Davidroid	0:2887415a46cd	887	/* decelerating from startDecPos to stepsToTake*/
Davidroid	18:2d6ab2b93685	888	device_prm.endAccPos = reqAccSteps;
Davidroid	18:2d6ab2b93685	889	device_prm.startDecPos = nbSteps - reqDecSteps - 1;
Davidroid	0:2887415a46cd	890	}
Davidroid	0:2887415a46cd	891	}
Davidroid	0:2887415a46cd	892
Davidroid	5:d3c78f12a78d	893	/**********************************************************
Davidroid	0:2887415a46cd	894	* @brief Converts the ABS_POSITION register value to a 32b signed integer
Davidroid	0:2887415a46cd	895	* @param[in] abs_position_reg value of the ABS_POSITION register
Davidroid	0:2887415a46cd	896	* @retval operation_result 32b signed integer corresponding to the absolute position
Davidroid	0:2887415a46cd	897	**********************************************************/
Davidroid	0:2887415a46cd	898	int32_t L6474::L6474_ConvertPosition(uint32_t abs_position_reg)
Davidroid	0:2887415a46cd	899	{
Davidroid	0:2887415a46cd	900	int32_t operation_result;
Davidroid	0:2887415a46cd	901
Davidroid	0:2887415a46cd	902	if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK)
Davidroid	0:2887415a46cd	903	{
Davidroid	0:2887415a46cd	904	/* Negative register value */
Davidroid	0:2887415a46cd	905	abs_position_reg = ~abs_position_reg;
Davidroid	0:2887415a46cd	906	abs_position_reg += 1;
Davidroid	0:2887415a46cd	907
Davidroid	0:2887415a46cd	908	operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
Davidroid	0:2887415a46cd	909	operation_result = -operation_result;
Davidroid	0:2887415a46cd	910	}
Davidroid	0:2887415a46cd	911	else
Davidroid	0:2887415a46cd	912	{
Davidroid	0:2887415a46cd	913	operation_result = (int32_t) abs_position_reg;
Davidroid	0:2887415a46cd	914	}
Davidroid	5:d3c78f12a78d	915
Davidroid	0:2887415a46cd	916	return operation_result;
Davidroid	0:2887415a46cd	917	}
Davidroid	0:2887415a46cd	918
Davidroid	5:d3c78f12a78d	919	/**********************************************************
Davidroid	0:2887415a46cd	920	* @brief Error handler which calls the user callback (if defined)
Davidroid	0:2887415a46cd	921	* @param[in] error Number of the error
Davidroid	0:2887415a46cd	922	* @retval None
Davidroid	0:2887415a46cd	923	**********************************************************/
Davidroid	0:2887415a46cd	924	void L6474::L6474_ErrorHandler(uint16_t error)
Davidroid	0:2887415a46cd	925	{
Davidroid	18:2d6ab2b93685	926	if (error_handler_callback != 0)
Davidroid	0:2887415a46cd	927	{
Davidroid	18:2d6ab2b93685	928	(void) error_handler_callback(error);
Davidroid	0:2887415a46cd	929	}
Davidroid	0:2887415a46cd	930	else
Davidroid	0:2887415a46cd	931	{
Davidroid	7:f7e0c3621f77	932	/* Aborting the program. */
Davidroid	7:f7e0c3621f77	933	exit(EXIT_FAILURE);
Davidroid	0:2887415a46cd	934	}
Davidroid	0:2887415a46cd	935	}
Davidroid	0:2887415a46cd	936
Davidroid	5:d3c78f12a78d	937	/**********************************************************
Davidroid	0:2887415a46cd	938	* @brief Sends a command without arguments to the L6474 via the SPI
Davidroid	0:2887415a46cd	939	* @param[in] param Command to send
Davidroid	0:2887415a46cd	940	* @retval None
Davidroid	0:2887415a46cd	941	**********************************************************/
Davidroid	0:2887415a46cd	942	void L6474::L6474_SendCommand(uint8_t param)
Davidroid	0:2887415a46cd	943	{
Davidroid	5:d3c78f12a78d	944	uint32_t i;
Davidroid	5:d3c78f12a78d	945	bool itDisable = FALSE;
Davidroid	18:2d6ab2b93685	946	uint8_t spiIndex = number_of_devices - device_instance - 1;
Davidroid	0:2887415a46cd	947
Davidroid	0:2887415a46cd	948	do
Davidroid	0:2887415a46cd	949	{
Davidroid	18:2d6ab2b93685	950	spi_preemtion_by_isr = FALSE;
Davidroid	0:2887415a46cd	951	if (itDisable)
Davidroid	0:2887415a46cd	952	{
Davidroid	0:2887415a46cd	953	/* re-enable L6474_EnableIrq if disable in previous iteration */
Davidroid	0:2887415a46cd	954	L6474_EnableIrq();
Davidroid	0:2887415a46cd	955	itDisable = FALSE;
Davidroid	0:2887415a46cd	956	}
Davidroid	0:2887415a46cd	957
Davidroid	18:2d6ab2b93685	958	for (i = 0; i < number_of_devices; i++)
Davidroid	5:d3c78f12a78d	959	{
Davidroid	18:2d6ab2b93685	960	spi_tx_bursts[3][i] = L6474_NOP;
Davidroid	5:d3c78f12a78d	961	}
Davidroid	18:2d6ab2b93685	962	spi_tx_bursts[3][spiIndex] = param;
Davidroid	0:2887415a46cd	963
Davidroid	0:2887415a46cd	964	/* Disable interruption before checking */
Davidroid	0:2887415a46cd	965	/* pre-emption by ISR and SPI transfers*/
Davidroid	0:2887415a46cd	966	L6474_DisableIrq();
Davidroid	0:2887415a46cd	967	itDisable = TRUE;
Davidroid	18:2d6ab2b93685	968	} while (spi_preemtion_by_isr); // check pre-emption by ISR
Davidroid	0:2887415a46cd	969
Davidroid	18:2d6ab2b93685	970	L6474_WriteBytes(&spi_tx_bursts[3][0], &spi_rx_bursts[3][0]);
Davidroid	0:2887415a46cd	971
Davidroid	0:2887415a46cd	972	/* re-enable L6474_EnableIrq after SPI transfers*/
Davidroid	0:2887415a46cd	973	L6474_EnableIrq();
Davidroid	0:2887415a46cd	974	}
Davidroid	0:2887415a46cd	975
Davidroid	5:d3c78f12a78d	976	/**********************************************************
Davidroid	0:2887415a46cd	977	* @brief Sets the registers of the L6474 to their predefined values
Davidroid	0:2887415a46cd	978	* from l6474_target_config.h
Davidroid	0:2887415a46cd	979	* @retval None
Davidroid	0:2887415a46cd	980	**********************************************************/
Davidroid	0:2887415a46cd	981	void L6474::L6474_SetRegisterToPredefinedValues(void)
Davidroid	0:2887415a46cd	982	{
Davidroid	0:2887415a46cd	983	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	984	L6474_ABS_POS,
Davidroid	0:2887415a46cd	985	0);
Davidroid	0:2887415a46cd	986	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	987	L6474_EL_POS,
Davidroid	0:2887415a46cd	988	0);
Davidroid	0:2887415a46cd	989	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	990	L6474_MARK,
Davidroid	0:2887415a46cd	991	0);
Davidroid	18:2d6ab2b93685	992	switch (device_instance)
Davidroid	0:2887415a46cd	993	{
Davidroid	0:2887415a46cd	994	case 0:
Davidroid	0:2887415a46cd	995	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	996	L6474_TVAL,
Davidroid	0:2887415a46cd	997	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
Davidroid	0:2887415a46cd	998	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	999	L6474_T_FAST,
Davidroid	0:2887415a46cd	1000	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 \|
Davidroid	0:2887415a46cd	1001	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
Davidroid	0:2887415a46cd	1002	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1003	L6474_TON_MIN,
Davidroid	0:2887415a46cd	1004	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
Davidroid	0:2887415a46cd	1005	);
Davidroid	0:2887415a46cd	1006	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1007	L6474_TOFF_MIN,
Davidroid	0:2887415a46cd	1008	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
Davidroid	0:2887415a46cd	1009	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1010	L6474_OCD_TH,
Davidroid	0:2887415a46cd	1011	L6474_CONF_PARAM_OCD_TH_DEVICE_0);
Davidroid	0:2887415a46cd	1012	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1013	L6474_STEP_MODE,
Davidroid	0:2887415a46cd	1014	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 \|
Davidroid	0:2887415a46cd	1015	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
Davidroid	0:2887415a46cd	1016	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1017	L6474_ALARM_EN,
Davidroid	0:2887415a46cd	1018	L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
Davidroid	0:2887415a46cd	1019	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1020	L6474_CONFIG,
Davidroid	0:2887415a46cd	1021	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 \|
Davidroid	0:2887415a46cd	1022	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 \|
Davidroid	0:2887415a46cd	1023	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 \|
Davidroid	0:2887415a46cd	1024	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 \|
Davidroid	0:2887415a46cd	1025	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
Davidroid	0:2887415a46cd	1026	break;
Davidroid	0:2887415a46cd	1027	case 1:
Davidroid	0:2887415a46cd	1028	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1029	L6474_TVAL,
Davidroid	0:2887415a46cd	1030	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
Davidroid	0:2887415a46cd	1031	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1032	L6474_T_FAST,
Davidroid	0:2887415a46cd	1033	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 \|
Davidroid	0:2887415a46cd	1034	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
Davidroid	0:2887415a46cd	1035	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1036	L6474_TON_MIN,
Davidroid	0:2887415a46cd	1037	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
Davidroid	0:2887415a46cd	1038	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1039	L6474_TOFF_MIN,
Davidroid	0:2887415a46cd	1040	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
Davidroid	0:2887415a46cd	1041	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1042	L6474_OCD_TH,
Davidroid	0:2887415a46cd	1043	L6474_CONF_PARAM_OCD_TH_DEVICE_1);
Davidroid	0:2887415a46cd	1044	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1045	L6474_STEP_MODE,
Davidroid	0:2887415a46cd	1046	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 \|
Davidroid	0:2887415a46cd	1047	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
Davidroid	0:2887415a46cd	1048	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1049	L6474_ALARM_EN,
Davidroid	0:2887415a46cd	1050	L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
Davidroid	0:2887415a46cd	1051	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1052	L6474_CONFIG,
Davidroid	0:2887415a46cd	1053	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 \|
Davidroid	0:2887415a46cd	1054	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 \|
Davidroid	0:2887415a46cd	1055	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 \|
Davidroid	0:2887415a46cd	1056	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 \|
Davidroid	0:2887415a46cd	1057	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
Davidroid	0:2887415a46cd	1058	break;
Davidroid	0:2887415a46cd	1059	case 2:
Davidroid	0:2887415a46cd	1060	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1061	L6474_TVAL,
Davidroid	0:2887415a46cd	1062	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
Davidroid	0:2887415a46cd	1063	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1064	L6474_T_FAST,
Davidroid	0:2887415a46cd	1065	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 \|
Davidroid	0:2887415a46cd	1066	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
Davidroid	0:2887415a46cd	1067	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1068	L6474_TON_MIN,
Davidroid	0:2887415a46cd	1069	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
Davidroid	0:2887415a46cd	1070	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1071	L6474_TOFF_MIN,
Davidroid	0:2887415a46cd	1072	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
Davidroid	0:2887415a46cd	1073	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1074	L6474_OCD_TH,
Davidroid	0:2887415a46cd	1075	L6474_CONF_PARAM_OCD_TH_DEVICE_2);
Davidroid	0:2887415a46cd	1076	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1077	L6474_STEP_MODE,
Davidroid	0:2887415a46cd	1078	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 \|
Davidroid	0:2887415a46cd	1079	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
Davidroid	0:2887415a46cd	1080	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1081	L6474_ALARM_EN,
Davidroid	0:2887415a46cd	1082	L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
Davidroid	0:2887415a46cd	1083	L6474_CmdSetParam(
Davidroid	0:2887415a46cd	1084	L6474_CONFIG,
Davidroid	0:2887415a46cd	1085	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 \|
Davidroid	0:2887415a46cd	1086	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 \|
Davidroid	0:2887415a46cd	1087	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 \|
Davidroid	0:2887415a46cd	1088	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 \|
Davidroid	0:2887415a46cd	1089	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
Davidroid	0:2887415a46cd	1090	break;
Davidroid	0:2887415a46cd	1091	default: ;
Davidroid	0:2887415a46cd	1092	}
Davidroid	0:2887415a46cd	1093	}
Davidroid	0:2887415a46cd	1094
Davidroid	5:d3c78f12a78d	1095	/**********************************************************
Davidroid	18:2d6ab2b93685	1096	* @brief Sets the registers of the L6474 to initialization values.
Davidroid	18:2d6ab2b93685	1097	* @param init Initialization structure.
Davidroid	18:2d6ab2b93685	1098	* @retval None.
Davidroid	18:2d6ab2b93685	1099	**********************************************************/
Davidroid	22:ed3a6990a6eb	1100	void L6474::L6474_SetRegisterToInitializationValues(L6474_Init_t *init)
Davidroid	18:2d6ab2b93685	1101	{
Davidroid	18:2d6ab2b93685	1102	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1103	L6474_ABS_POS,
Davidroid	18:2d6ab2b93685	1104	0
Davidroid	18:2d6ab2b93685	1105	);
Davidroid	18:2d6ab2b93685	1106	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1107	L6474_EL_POS,
Davidroid	18:2d6ab2b93685	1108	0
Davidroid	18:2d6ab2b93685	1109	);
Davidroid	18:2d6ab2b93685	1110	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1111	L6474_MARK,
Davidroid	18:2d6ab2b93685	1112	0
Davidroid	18:2d6ab2b93685	1113	);
Davidroid	18:2d6ab2b93685	1114	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1115	L6474_TVAL,
Davidroid	18:2d6ab2b93685	1116	L6474_Tval_Current_to_Par(init->torque_regulation_current_mA)
Davidroid	18:2d6ab2b93685	1117	);
Davidroid	18:2d6ab2b93685	1118	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1119	L6474_T_FAST,
Davidroid	18:2d6ab2b93685	1120	(uint8_t) init->maximum_fast_decay_time \|
Davidroid	18:2d6ab2b93685	1121	(uint8_t) init->fall_time
Davidroid	18:2d6ab2b93685	1122	);
Davidroid	18:2d6ab2b93685	1123	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1124	L6474_TON_MIN,
Davidroid	18:2d6ab2b93685	1125	L6474_Tmin_Time_to_Par(init->minimum_ON_time_us)
Davidroid	18:2d6ab2b93685	1126	);
Davidroid	18:2d6ab2b93685	1127	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1128	L6474_TOFF_MIN,
Davidroid	18:2d6ab2b93685	1129	L6474_Tmin_Time_to_Par(init->minimum_OFF_time_us)
Davidroid	18:2d6ab2b93685	1130	);
Davidroid	18:2d6ab2b93685	1131	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1132	L6474_OCD_TH,
Davidroid	18:2d6ab2b93685	1133	init->overcurrent_threshold
Davidroid	18:2d6ab2b93685	1134	);
Davidroid	18:2d6ab2b93685	1135	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1136	L6474_STEP_MODE,
Davidroid	18:2d6ab2b93685	1137	(uint8_t) init->step_selection \|
Davidroid	18:2d6ab2b93685	1138	(uint8_t) init->sync_selection
Davidroid	18:2d6ab2b93685	1139	);
Davidroid	18:2d6ab2b93685	1140	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1141	L6474_ALARM_EN,
Davidroid	18:2d6ab2b93685	1142	init->alarm
Davidroid	18:2d6ab2b93685	1143	);
Davidroid	18:2d6ab2b93685	1144	L6474_CmdSetParam(
Davidroid	18:2d6ab2b93685	1145	L6474_CONFIG,
Davidroid	18:2d6ab2b93685	1146	(uint16_t) init->clock \|
Davidroid	18:2d6ab2b93685	1147	(uint16_t) init->torque_regulation_method \|
Davidroid	18:2d6ab2b93685	1148	(uint16_t) init->overcurrent_shutwdown \|
Davidroid	18:2d6ab2b93685	1149	(uint16_t) init->slew_rate \|
Davidroid	18:2d6ab2b93685	1150	(uint16_t) init->target_swicthing_period
Davidroid	18:2d6ab2b93685	1151	);
Davidroid	18:2d6ab2b93685	1152	}
Davidroid	18:2d6ab2b93685	1153
Davidroid	18:2d6ab2b93685	1154	/**********************************************************
Davidroid	0:2887415a46cd	1155	* @brief Sets the parameters of the device to predefined values
Davidroid	0:2887415a46cd	1156	* from l6474_target_config.h
Davidroid	0:2887415a46cd	1157	* @param None
Davidroid	0:2887415a46cd	1158	* @retval None
Davidroid	0:2887415a46cd	1159	**********************************************************/
Davidroid	0:2887415a46cd	1160	void L6474::L6474_SetDeviceParamsToPredefinedValues(void)
Davidroid	0:2887415a46cd	1161	{
Davidroid	18:2d6ab2b93685	1162	switch (device_instance)
Davidroid	0:2887415a46cd	1163	{
Davidroid	0:2887415a46cd	1164	case 0:
Davidroid	18:2d6ab2b93685	1165	device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
Davidroid	18:2d6ab2b93685	1166	device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
Davidroid	18:2d6ab2b93685	1167	device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
Davidroid	18:2d6ab2b93685	1168	device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
Davidroid	0:2887415a46cd	1169	break;
Davidroid	0:2887415a46cd	1170
Davidroid	0:2887415a46cd	1171	case 1:
Davidroid	18:2d6ab2b93685	1172	device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
Davidroid	18:2d6ab2b93685	1173	device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
Davidroid	18:2d6ab2b93685	1174	device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
Davidroid	18:2d6ab2b93685	1175	device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
Davidroid	0:2887415a46cd	1176	break;
Davidroid	0:2887415a46cd	1177
Davidroid	0:2887415a46cd	1178	case 2:
Davidroid	18:2d6ab2b93685	1179	device_prm.acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
Davidroid	18:2d6ab2b93685	1180	device_prm.deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
Davidroid	18:2d6ab2b93685	1181	device_prm.maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
Davidroid	18:2d6ab2b93685	1182	device_prm.minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
Davidroid	0:2887415a46cd	1183	break;
Davidroid	0:2887415a46cd	1184	}
Davidroid	0:2887415a46cd	1185
Davidroid	18:2d6ab2b93685	1186	device_prm.accu = 0;
Davidroid	18:2d6ab2b93685	1187	device_prm.currentPosition = 0;
Davidroid	18:2d6ab2b93685	1188	device_prm.endAccPos = 0;
Davidroid	18:2d6ab2b93685	1189	device_prm.relativePos = 0;
Davidroid	18:2d6ab2b93685	1190	device_prm.startDecPos = 0;
Davidroid	18:2d6ab2b93685	1191	device_prm.stepsToTake = 0;
Davidroid	18:2d6ab2b93685	1192	device_prm.speed = 0;
Davidroid	18:2d6ab2b93685	1193	device_prm.commandExecuted = NO_CMD;
Davidroid	18:2d6ab2b93685	1194	device_prm.direction = FORWARD;
Davidroid	18:2d6ab2b93685	1195	device_prm.motionState = INACTIVE;
Davidroid	0:2887415a46cd	1196	}
Davidroid	0:2887415a46cd	1197
Davidroid	5:d3c78f12a78d	1198	/**********************************************************
Davidroid	0:2887415a46cd	1199	* @brief Initialises the bridge parameters to start the movement
Davidroid	0:2887415a46cd	1200	* and enable the power bridge
Davidroid	0:2887415a46cd	1201	* @retval None
Davidroid	0:2887415a46cd	1202	**********************************************************/
Davidroid	0:2887415a46cd	1203	void L6474::L6474_StartMovement(void)
Davidroid	0:2887415a46cd	1204	{
Davidroid	0:2887415a46cd	1205	/* Enable L6474 powerstage */
Davidroid	0:2887415a46cd	1206	L6474_CmdEnable();
Davidroid	18:2d6ab2b93685	1207	if (device_prm.endAccPos != 0)
Davidroid	0:2887415a46cd	1208	{
Davidroid	18:2d6ab2b93685	1209	device_prm.motionState = ACCELERATING;
Davidroid	0:2887415a46cd	1210	}
Davidroid	0:2887415a46cd	1211	else
Davidroid	0:2887415a46cd	1212	{
Davidroid	18:2d6ab2b93685	1213	device_prm.motionState = DECELERATING;
Davidroid	0:2887415a46cd	1214	}
Davidroid	18:2d6ab2b93685	1215	device_prm.accu = 0;
Davidroid	18:2d6ab2b93685	1216	device_prm.relativePos = 0;
Davidroid	18:2d6ab2b93685	1217	L6474_ApplySpeed(device_prm.minSpeed);
Davidroid	0:2887415a46cd	1218	}
Davidroid	0:2887415a46cd	1219
Davidroid	5:d3c78f12a78d	1220	/**********************************************************
Davidroid	0:2887415a46cd	1221	* @brief Handles the device state machine at each ste
Davidroid	0:2887415a46cd	1222	* @retval None
Davidroid	0:2887415a46cd	1223	* @note Must only be called by the timer ISR
Davidroid	0:2887415a46cd	1224	**********************************************************/
Davidroid	0:2887415a46cd	1225	void L6474::L6474_StepClockHandler(void)
Davidroid	0:2887415a46cd	1226	{
Davidroid	0:2887415a46cd	1227	/* Set isr flag */
Davidroid	18:2d6ab2b93685	1228	isr_flag = TRUE;
Davidroid	0:2887415a46cd	1229
Davidroid	0:2887415a46cd	1230	/* Incrementation of the relative position */
Davidroid	18:2d6ab2b93685	1231	device_prm.relativePos++;
Davidroid	0:2887415a46cd	1232
Davidroid	18:2d6ab2b93685	1233	switch (device_prm.motionState)
Davidroid	0:2887415a46cd	1234	{
Davidroid	0:2887415a46cd	1235	case ACCELERATING:
Davidroid	0:2887415a46cd	1236	{
Davidroid	18:2d6ab2b93685	1237	uint32_t relPos = device_prm.relativePos;
Davidroid	18:2d6ab2b93685	1238	uint32_t endAccPos = device_prm.endAccPos;
Davidroid	18:2d6ab2b93685	1239	uint16_t speed = device_prm.speed;
Davidroid	18:2d6ab2b93685	1240	uint32_t acc = ((uint32_t)device_prm.acceleration << 16);
Davidroid	0:2887415a46cd	1241
Davidroid	18:2d6ab2b93685	1242	if ((device_prm.commandExecuted == SOFT_STOP_CMD)\|\|
Davidroid	18:2d6ab2b93685	1243	((device_prm.commandExecuted != RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1244	(relPos == device_prm.startDecPos)))
Davidroid	0:2887415a46cd	1245	{
Davidroid	18:2d6ab2b93685	1246	device_prm.motionState = DECELERATING;
Davidroid	18:2d6ab2b93685	1247	device_prm.accu = 0;
Davidroid	0:2887415a46cd	1248	}
Davidroid	18:2d6ab2b93685	1249	else if ((speed >= device_prm.maxSpeed)\|\|
Davidroid	18:2d6ab2b93685	1250	((device_prm.commandExecuted != RUN_CMD)&&
Davidroid	0:2887415a46cd	1251	(relPos == endAccPos)))
Davidroid	0:2887415a46cd	1252	{
Davidroid	18:2d6ab2b93685	1253	device_prm.motionState = STEADY;
Davidroid	0:2887415a46cd	1254	}
Davidroid	0:2887415a46cd	1255	else
Davidroid	0:2887415a46cd	1256	{
Davidroid	0:2887415a46cd	1257	bool speedUpdated = FALSE;
Davidroid	0:2887415a46cd	1258	/* Go on accelerating */
Davidroid	0:2887415a46cd	1259	if (speed == 0) speed =1;
Davidroid	18:2d6ab2b93685	1260	device_prm.accu += acc / speed;
Davidroid	18:2d6ab2b93685	1261	while (device_prm.accu >= (0X10000L))
Davidroid	0:2887415a46cd	1262	{
Davidroid	18:2d6ab2b93685	1263	device_prm.accu -= (0X10000L);
Davidroid	0:2887415a46cd	1264	speed +=1;
Davidroid	0:2887415a46cd	1265	speedUpdated = TRUE;
Davidroid	0:2887415a46cd	1266	}
Davidroid	0:2887415a46cd	1267
Davidroid	0:2887415a46cd	1268	if (speedUpdated)
Davidroid	0:2887415a46cd	1269	{
Davidroid	18:2d6ab2b93685	1270	if (speed > device_prm.maxSpeed)
Davidroid	0:2887415a46cd	1271	{
Davidroid	18:2d6ab2b93685	1272	speed = device_prm.maxSpeed;
Davidroid	0:2887415a46cd	1273	}
Davidroid	18:2d6ab2b93685	1274	device_prm.speed = speed;
Davidroid	18:2d6ab2b93685	1275	L6474_ApplySpeed(device_prm.speed);
Davidroid	0:2887415a46cd	1276	}
Davidroid	0:2887415a46cd	1277	}
Davidroid	0:2887415a46cd	1278	break;
Davidroid	0:2887415a46cd	1279	}
Davidroid	0:2887415a46cd	1280	case STEADY:
Davidroid	0:2887415a46cd	1281	{
Davidroid	18:2d6ab2b93685	1282	uint16_t maxSpeed = device_prm.maxSpeed;
Davidroid	18:2d6ab2b93685	1283	uint32_t relativePos = device_prm.relativePos;
Davidroid	18:2d6ab2b93685	1284	if ((device_prm.commandExecuted == SOFT_STOP_CMD)\|\|
Davidroid	18:2d6ab2b93685	1285	((device_prm.commandExecuted != RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1286	(relativePos >= (device_prm.startDecPos))) \|\|
Davidroid	18:2d6ab2b93685	1287	((device_prm.commandExecuted == RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1288	(device_prm.speed > maxSpeed)))
Davidroid	0:2887415a46cd	1289	{
Davidroid	18:2d6ab2b93685	1290	device_prm.motionState = DECELERATING;
Davidroid	18:2d6ab2b93685	1291	device_prm.accu = 0;
Davidroid	0:2887415a46cd	1292	}
Davidroid	18:2d6ab2b93685	1293	else if ((device_prm.commandExecuted == RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1294	(device_prm.speed < maxSpeed))
Davidroid	0:2887415a46cd	1295	{
Davidroid	18:2d6ab2b93685	1296	device_prm.motionState = ACCELERATING;
Davidroid	18:2d6ab2b93685	1297	device_prm.accu = 0;
Davidroid	0:2887415a46cd	1298	}
Davidroid	0:2887415a46cd	1299	break;
Davidroid	0:2887415a46cd	1300	}
Davidroid	0:2887415a46cd	1301	case DECELERATING:
Davidroid	0:2887415a46cd	1302	{
Davidroid	18:2d6ab2b93685	1303	uint32_t relativePos = device_prm.relativePos;
Davidroid	18:2d6ab2b93685	1304	uint16_t speed = device_prm.speed;
Davidroid	18:2d6ab2b93685	1305	uint32_t deceleration = ((uint32_t)device_prm.deceleration << 16);
Davidroid	18:2d6ab2b93685	1306	if (((device_prm.commandExecuted == SOFT_STOP_CMD)&&(speed <= device_prm.minSpeed))\|\|
Davidroid	18:2d6ab2b93685	1307	((device_prm.commandExecuted != RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1308	(relativePos >= device_prm.stepsToTake)))
Davidroid	0:2887415a46cd	1309	{
Davidroid	0:2887415a46cd	1310	/* Motion process complete */
Davidroid	0:2887415a46cd	1311	L6474_HardStop();
Davidroid	0:2887415a46cd	1312	}
Davidroid	18:2d6ab2b93685	1313	else if ((device_prm.commandExecuted == RUN_CMD)&&
Davidroid	18:2d6ab2b93685	1314	(speed <= device_prm.maxSpeed))
Davidroid	0:2887415a46cd	1315	{
Davidroid	18:2d6ab2b93685	1316	device_prm.motionState = STEADY;
Davidroid	0:2887415a46cd	1317	}
Davidroid	0:2887415a46cd	1318	else
Davidroid	0:2887415a46cd	1319	{
Davidroid	0:2887415a46cd	1320	/* Go on decelerating */
Davidroid	18:2d6ab2b93685	1321	if (speed > device_prm.minSpeed)
Davidroid	0:2887415a46cd	1322	{
Davidroid	0:2887415a46cd	1323	bool speedUpdated = FALSE;
Davidroid	0:2887415a46cd	1324	if (speed == 0) speed =1;
Davidroid	18:2d6ab2b93685	1325	device_prm.accu += deceleration / speed;
Davidroid	18:2d6ab2b93685	1326	while (device_prm.accu >= (0X10000L))
Davidroid	0:2887415a46cd	1327	{
Davidroid	18:2d6ab2b93685	1328	device_prm.accu -= (0X10000L);
Davidroid	0:2887415a46cd	1329	if (speed > 1)
Davidroid	0:2887415a46cd	1330	{
Davidroid	0:2887415a46cd	1331	speed -=1;
Davidroid	0:2887415a46cd	1332	}
Davidroid	0:2887415a46cd	1333	speedUpdated = TRUE;
Davidroid	0:2887415a46cd	1334	}
Davidroid	0:2887415a46cd	1335
Davidroid	0:2887415a46cd	1336	if (speedUpdated)
Davidroid	0:2887415a46cd	1337	{
Davidroid	18:2d6ab2b93685	1338	if (speed < device_prm.minSpeed)
Davidroid	0:2887415a46cd	1339	{
Davidroid	18:2d6ab2b93685	1340	speed = device_prm.minSpeed;
Davidroid	0:2887415a46cd	1341	}
Davidroid	18:2d6ab2b93685	1342	device_prm.speed = speed;
Davidroid	18:2d6ab2b93685	1343	L6474_ApplySpeed(device_prm.speed);
Davidroid	0:2887415a46cd	1344	}
Davidroid	0:2887415a46cd	1345	}
Davidroid	0:2887415a46cd	1346	}
Davidroid	0:2887415a46cd	1347	break;
Davidroid	0:2887415a46cd	1348	}
Davidroid	0:2887415a46cd	1349	default:
Davidroid	0:2887415a46cd	1350	{
Davidroid	0:2887415a46cd	1351	break;
Davidroid	0:2887415a46cd	1352	}
Davidroid	0:2887415a46cd	1353	}
Davidroid	0:2887415a46cd	1354	/* Set isr flag */
Davidroid	18:2d6ab2b93685	1355	isr_flag = FALSE;
Davidroid	18:2d6ab2b93685	1356	}
Davidroid	18:2d6ab2b93685	1357
Davidroid	18:2d6ab2b93685	1358	/**********************************************************
Davidroid	18:2d6ab2b93685	1359	* @brief Converts current in mA to values for TVAL register
Davidroid	18:2d6ab2b93685	1360	* @param[in] current_mA current in mA
Davidroid	18:2d6ab2b93685	1361	* @retval value for TVAL register
Davidroid	18:2d6ab2b93685	1362	**********************************************************/
Davidroid	18:2d6ab2b93685	1363	float L6474::L6474_Tval_Current_to_Par(float current_mA)
Davidroid	18:2d6ab2b93685	1364	{
Davidroid	18:2d6ab2b93685	1365	return ((float)(((current_mA - 31.25f) / 31.25f) + 0.5f));
Davidroid	0:2887415a46cd	1366	}
Davidroid	0:2887415a46cd	1367
Davidroid	5:d3c78f12a78d	1368	/**********************************************************
Davidroid	18:2d6ab2b93685	1369	* @brief Converts values from TVAL register to mA
Davidroid	18:2d6ab2b93685	1370	* @param[in] Tval value from TVAL register
Davidroid	18:2d6ab2b93685	1371	* @retval current in mA
Davidroid	0:2887415a46cd	1372	**********************************************************/
Davidroid	18:2d6ab2b93685	1373	float L6474::L6474_Par_to_Tval_Current(float Tval)
Davidroid	0:2887415a46cd	1374	{
Davidroid	18:2d6ab2b93685	1375	return ((float)((Tval - 0.5f) * 31.25f + 31.25f));
Davidroid	0:2887415a46cd	1376	}
Davidroid	0:2887415a46cd	1377
Davidroid	5:d3c78f12a78d	1378	/**********************************************************
Davidroid	18:2d6ab2b93685	1379	* @brief Convert time in us to values for TON_MIN register
Davidroid	18:2d6ab2b93685	1380	* @param[in] ton_min_us time in us
Davidroid	18:2d6ab2b93685	1381	* @retval value for TON_MIN register
Davidroid	0:2887415a46cd	1382	**********************************************************/
Davidroid	18:2d6ab2b93685	1383	float L6474::L6474_Tmin_Time_to_Par(float ton_min_us)
Davidroid	0:2887415a46cd	1384	{
Davidroid	18:2d6ab2b93685	1385	return ((float)(((ton_min_us - 0.5f) * 2.0f) + 0.5f));
Davidroid	18:2d6ab2b93685	1386	}
Davidroid	18:2d6ab2b93685	1387
Davidroid	18:2d6ab2b93685	1388	/**********************************************************
Davidroid	18:2d6ab2b93685	1389	* @brief Convert values for TON_MIN register to time in us
Davidroid	18:2d6ab2b93685	1390	* @param[in] Tmin value from TON_MIN register
Davidroid	18:2d6ab2b93685	1391	* @retval time in us
Davidroid	18:2d6ab2b93685	1392	**********************************************************/
Davidroid	18:2d6ab2b93685	1393	float L6474::L6474_Par_to_Tmin_Time(float Tmin)
Davidroid	18:2d6ab2b93685	1394	{
Davidroid	18:2d6ab2b93685	1395	return ((float)(((Tmin - 0.5f) / 2.0f) + 0.5f));
Davidroid	0:2887415a46cd	1396	}
Davidroid	0:2887415a46cd	1397
Davidroid	5:d3c78f12a78d	1398	/**********************************************************
Davidroid	0:2887415a46cd	1399	* @brief Write and receive a byte via SPI
Davidroid	0:2887415a46cd	1400	* @param[in] pByteToTransmit pointer to the byte to transmit
Davidroid	0:2887415a46cd	1401	* @param[in] pReceivedByte pointer to the received byte
Davidroid	0:2887415a46cd	1402	* @retval None
Davidroid	0:2887415a46cd	1403	**********************************************************/
Davidroid	0:2887415a46cd	1404	void L6474::L6474_WriteBytes(uint8_t pByteToTransmit, uint8_t pReceivedByte)
Davidroid	0:2887415a46cd	1405	{
Davidroid	0:2887415a46cd	1406	if (L6474_SpiWriteBytes(pByteToTransmit, pReceivedByte) != 0)
Davidroid	0:2887415a46cd	1407	{
Davidroid	0:2887415a46cd	1408	L6474_ErrorHandler(L6474_ERROR_1);
Davidroid	0:2887415a46cd	1409	}
Davidroid	0:2887415a46cd	1410
Davidroid	18:2d6ab2b93685	1411	if (isr_flag)
Davidroid	0:2887415a46cd	1412	{
Davidroid	18:2d6ab2b93685	1413	spi_preemtion_by_isr = TRUE;
Davidroid	0:2887415a46cd	1414	}
Davidroid	0:2887415a46cd	1415	}
Davidroid	0:2887415a46cd	1416
Davidroid	0:2887415a46cd	1417	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Library
Created:	24 May 2017
Imports:	0
Forks:	0
Commits:	27
Dependents:	1
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Components/l6474/l6474_class.cpp@22:ed3a6990a6eb, 2016-02-09 (annotated)

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