Davide Aliprandi / X_NUCLEO_IHM14A1

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Dependencies:   ST_INTERFACES

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STSPIN820 Class Reference
Public Member Functions | Protected Member Functions

STSPIN820 Class Reference

Class representing a STSPIN820 component. More...

#include <STSPIN820.h>

Public Member Functions

 STSPIN820 (PinName ssel, DevSPI &spi)
 Constructor.
virtual ~STSPIN820 (void)
 Destructor.

Protected Member Functions

void STSPIN820_ApplySpeed (uint8_t pwmId, uint16_t newSpeed)
 Updates the current speed of the device.
void STSPIN820_ApplyTorque (uint8_t deviceId, motor_torque_mode_t torqueMode)
 Apply the set torque to the specified device.
void STSPIN820_ComputeSpeedProfile (uint8_t deviceId, uint32_t nbSteps)
 Computes the speed profile according to the number of steps to move.
void STSPIN820_FlagInterruptHandler (void)
 Handlers of the flag interrupt which calls the user callback (if defined)
void STSPIN820_SetDeviceParamsOtherValues (void)
 Set the parameters of the device whose values are not defined in STSPIN820_config.h.
void STSPIN820_SetDeviceParamsToGivenValues (STSPIN820_init_t *initDevicePrm)
 Set the parameters of the device to values of initDevicePrm structure.
void STSPIN820_SetDeviceParamsToPredefinedValues (void)
 Sets the parameters of the device to predefined values from STSPIN820_config.h.
void STSPIN820_StartMovement (uint8_t deviceId)
 Initialises the bridge parameters to start the movement and enable the power bridge.
void STSPIN820_StepClockHandler (uint8_t deviceId)
 Handles the device state machine at each pulse.
MOTOR_vt_t * STSPIN820_GetMotorHandle (void)
 Return motor handle (pointer to the STSPIN820 motor driver structure)
void STSPIN820_Init (void *pInit)
 Start the STSPIN820 library.
uint16_t STSPIN820_ReadId (void)
 Read id.
void STSPIN820_AttachFlagInterrupt (void(*callback)(void))
 Attach a user callback to the flag Interrupt The call back will be then called each time the status flag pin will be pulled down due to the occurrence of a programmed alarms ( OCD, thermal pre-warning or shutdown, UVLO, wrong command, non-performable command)
uint8_t STSPIN820_CheckStatusHw (void)
 Check if STSPIN820 has a fault by reading EN pin position.
void STSPIN820_Disable (uint8_t deviceId)
 Disable the power bridges (leave the output bridges HiZ)
void STSPIN820_Enable (uint8_t deviceId)
 Enable the power bridges.
void STSPIN820_ErrorHandler (uint16_t error)
 Error handler which calls the user callback (if defined)
void STSPIN820_ExitDeviceFromStandby (uint8_t deviceId)
 Exit STSPIN820 device from standby (low power consumption)
motor_decay_mode_t STSPIN820_GetDecayMode (uint8_t deviceId)
 Return the decay mode of the specified device.
uint16_t STSPIN820_GetDeceleration (uint8_t deviceId)
 Return the deceleration of the specified device.
motor_state_t STSPIN820_GetDeviceState (uint8_t deviceId)
 Return the device state.
motor_direction_t STSPIN820_GetDirection (uint8_t deviceId)
 Get the motor current direction.
uint32_t STSPIN820_GetFwVersion (void)
 Return the FW version of the library.
int32_t STSPIN820_GetMark (uint8_t deviceId)
 Return the mark position of the specified device.
uint16_t STSPIN820_GetMaxSpeed (uint8_t deviceId)
 Return the max speed of the specified device.
uint16_t STSPIN820_GetMinSpeed (uint8_t deviceId)
 Return the min speed of the specified device.
uint8_t STSPIN820_GetNbDevices (void)
 Returns the number of devices.
int32_t STSPIN820_GetPosition (uint8_t deviceId)
 Return the current position value of the specified device.
motor_step_mode_t STSPIN820_GetStepMode (uint8_t deviceId)
 Get the motor step mode.
motor_stop_mode_t STSPIN820_GetStopMode (uint8_t deviceId)
 Get the selected stop mode.
uint8_t STSPIN820_GetTorque (uint8_t deviceId, motor_torque_mode_t torqueMode)
 Get the torque of the specified device.
bool STSPIN820_GetTorqueBoostEnable (uint8_t deviceId)
 Get the torque boost feature status.
uint16_t STSPIN820_GetTorqueBoostThreshold (uint8_t deviceId)
 Get the torque boost threshold.
void STSPIN820_GoHome (uint8_t deviceId)
 Request the motor to move to the home position (ABS_POSITION = 0)
void STSPIN820_GoMark (uint8_t deviceId)
 Request the motor to move to the mark position.
void STSPIN820_GoTo (uint8_t deviceId, int32_t targetPosition)
 Request the motor to move to the specified position.
void STSPIN820_GoToDir (uint8_t deviceId, motor_direction_t direction, int32_t targetPosition)
 Move the motor to the absolute position.
void STSPIN820_HardStop (uint8_t deviceId)
 Immediatly stop the motor and either set holding torque when stop mode is HOLD_MODE, or call STSPIN820_HardHiz function when stop mode is HIZ_MODE, or call STSPIN820_PutDeviceInStandby function when stop mode is STANDBY_MODE.
void STSPIN820_HardHiZ (uint8_t deviceId)
 Immediatly stop the motor and disable the power bridge.
void STSPIN820_Move (uint8_t deviceId, motor_direction_t direction, uint32_t stepCount)
 Moves the motor of the specified number of steps.
void STSPIN820_PutDeviceInStandby (uint8_t deviceId)
 Put STSPIN820 device in standby (low power consumption)
void STSPIN820_Run (uint8_t deviceId, motor_direction_t direction)
 Runs the motor.
bool STSPIN820_SetAcceleration (uint8_t deviceId, uint16_t newAcc)
 Changes the acceleration of the specified device.
bool STSPIN820_SetDeceleration (uint8_t deviceId, uint16_t newDec)
 Changes the deceleration of the specified device.
void STSPIN820_SetDecayMode (uint8_t deviceId, motor_decay_mode_t decay)
 Specifies the decay mode.
void STSPIN820_SetDirection (uint8_t deviceId, motor_direction_t direction)
 Specifies the direction.
void STSPIN820_SetHome (uint8_t deviceId)
 Set current position to be the Home position (current position set to 0)
void STSPIN820_SetMark (uint8_t deviceId)
 Set current position to be the Mark position.
bool STSPIN820_SetMaxSpeed (uint8_t deviceId, uint16_t newMaxSpeed)
 Changes the max speed of the specified device.
bool STSPIN820_SetMinSpeed (uint8_t deviceId, uint16_t newMinSpeed)
 Changes the min speed of the specified device.
bool STSPIN820_SetNbDevices (uint8_t nbDevices)
 Sets the number of devices to be used.
bool STSPIN820_SetStepMode (uint8_t deviceId, motor_step_mode_t stepMode)
 Set the stepping mode.
void STSPIN820_SetStopMode (uint8_t deviceId, motor_stop_mode_t stopMode)
 Select the mode to stop the motor.
void STSPIN820_SetTorque (uint8_t deviceId, motor_torque_mode_t torqueMode, uint8_t torqueValue)
 Set the torque of the specified device.
void STSPIN820_SetTorqueBoostEnable (uint8_t deviceId, bool enable)
 Enable or disable the torque boost feature.
void STSPIN820_SetTorqueBoostThreshold (uint8_t deviceId, uint16_t speedThreshold)
 Set the torque boost threshold.
bool STSPIN820_SoftStop (uint8_t deviceId)
 Stops the motor by using the device deceleration.
uint32_t STSPIN820_VrefPwmGetFreq (uint8_t deviceId)
 Get the frequency of REF PWM of the specified device.
void STSPIN820_VrefPwmSetFreq (uint8_t deviceId, uint32_t newFreq)
 Set the frequency of REF PWM of the specified device.
void STSPIN820_WaitWhileActive (uint8_t deviceId)
 Locks until the device state becomes Inactive.
status_t read (uint8_t *pBuffer, uint16_t NumBytesToRead)
 Utility function to read data from STSPIN820.
status_t write (uint8_t *pBuffer, uint16_t NumBytesToWrite)
 Utility function to write data to STSPIN820.
status_t read_write (uint8_t *pBufferToRead, uint8_t *pBufferToWrite, uint16_t NumBytes)
 Utility function to read and write data from/to STSPIN820 at the same time.

Detailed Description

Class representing a STSPIN820 component.

Definition at line 84 of file STSPIN820.h.

Constructor & Destructor Documentation

STSPIN820 ( PinName  ssel,
DevSPI &  spi 
)

Constructor.

Parameters:
sselpin name of the SSEL pin of the SPI device to be used for communication.
spiSPI device to be used for communication.

Definition at line 95 of file STSPIN820.h.

virtual ~STSPIN820 ( void   ) [virtual]

Destructor.

Definition at line 116 of file STSPIN820.h.

Member Function Documentation

status_t read ( uint8_t *  pBuffer,
uint16_t  NumBytesToRead 
) [protected]

Utility function to read data from STSPIN820.

Parameters:
[out]pBufferpointer to the buffer to read data into.
[in]NumBytesToReadnumber of bytes to read.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 537 of file STSPIN820.h.

status_t read_write ( uint8_t *  pBufferToRead,
uint8_t *  pBufferToWrite,
uint16_t  NumBytes 
) [protected]

Utility function to read and write data from/to STSPIN820 at the same time.

Parameters:
[out]pBufferToReadpointer to the buffer to read data into.
[in]pBufferToWritepointer to the buffer of data to send.
[in]NumBytesnumber of bytes to read and write.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 564 of file STSPIN820.h.

status_t write ( uint8_t *  pBuffer,
uint16_t  NumBytesToWrite 
) [protected]

Utility function to write data to STSPIN820.

Parameters:
[in]pBufferpointer to the buffer of data to send.
[in]NumBytesToWritenumber of bytes to write.
Return values:
COMPONENT_OKin case of success, COMPONENT_ERROR otherwise.

Definition at line 550 of file STSPIN820.h.

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