Luca Istorico
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.
Fork of
X_NUCLEO_IHM02A1
by 
ST
Diff: Components/l6470/l6470_class.h
- Revision:
- 1:b78dab6d2c58
- Parent:
- 0:92706998571a
- Child:
- 2:3ed992ffeada
--- a/Components/l6470/l6470_class.h Fri Nov 20 18:07:45 2015 +0000
+++ b/Components/l6470/l6470_class.h Wed Nov 25 11:59:37 2015 +0000
@@ -81,16 +81,37 @@
{
public:
+ /*** Public Component Related Types ***/
+
+ /**
+ * @brief Prepared Actions.
+ */
+ typedef enum
+ {
+ PREPARED_NO_ACTION = 0,
+ PREPARED_GET_POSITION,
+ PREPARED_GET_MARK,
+ PREPARED_GET_SPEED,
+ PREPARED_GET_MAX_SPEED,
+ PREPARED_GET_MIN_SPEED,
+ PREPARED_GET_ACCELERATION,
+ PREPARED_GET_DECELERATION,
+ PREPARED_GET_DIRECTION,
+ PREPARED_SET_MARK
+ } prepared_action_t;
+
+
/*** Constructor and Destructor Methods ***/
/**
* @brief Constructor.
* @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
* @param standby_reset pin name of the STBY\RST pin of the component.
* @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
* @param spi SPI device to be used for communication.
*/
- L6470(PinName flag_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
+ L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
{
/* ACTION 4 ----------------------------------------------------------*
* Initialize here the component's member variables, one variable per *
@@ -107,6 +128,7 @@
L6470_Direction = &_L6470_Direction[0];
L6470_ACT = &_L6470_ACT[0];
pL6470_StatusRegister = &L6470_StatusRegister;
+ prepared_action = PREPARED_NO_ACTION;
L6470_Id = number_of_devices++;
L6470_DaisyChain_HalfPrepared = ZERO_F;
memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
@@ -142,348 +164,888 @@
* return COMPONENT_EnableFeature(); *
* } *
*------------------------------------------------------------------------*/
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int Init(void *init)
{
return (int) L6470_Config((MICROSTEPPING_MOTOR_InitTypeDef *) init);
}
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
virtual int ReadID(uint8_t *id)
{
return (int) 0;
}
+ /**
+ * @brief Getting the status.
+ * @param None.
+ * @retval The status.
+ */
virtual unsigned int GetStatus(void)
{
return (unsigned int) L6470_GetStatus();
}
-
+
+ /**
+ * @brief Getting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval The parameter's value.
+ */
virtual unsigned int GetParameter(unsigned int parameter)
{
return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
}
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
virtual signed int GetPosition(void)
{
- return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
}
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
virtual signed int GetMark(void)
{
- return (signed int) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID);
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
}
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
virtual unsigned int GetSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
}
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
virtual unsigned int GetMaxSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+ return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
}
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
virtual unsigned int GetMinSpeed(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+ return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
}
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
virtual unsigned int GetAcceleration(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID);
+ return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
}
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
virtual unsigned int GetDeceleration(void)
{
- return (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID);
+ return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
}
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
virtual direction_t GetDirection(void)
{
return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
}
+ /**
+ * @brief Setting a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value.
+ * @retval None.
+ */
virtual void SetParameter(unsigned int parameter, unsigned int value)
{
L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
}
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetHome(void)
{
L6470_ResetPos();
- //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
}
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void SetMark(void)
{
L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
- //L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) 0);
}
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param position The given position.
+ * @retval None.
+ */
+ virtual void SetMark(signed int position)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ }
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ */
virtual void SetMaxSpeed(unsigned int speed)
{
- L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
+ L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
}
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ */
virtual void SetMinSpeed(unsigned int speed)
{
- L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
+ L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
}
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ */
virtual void SetAcceleration(unsigned int acceleration)
{
- L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
+ L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
}
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ */
virtual void SetDeceleration(unsigned int deceleration)
{
- L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
+ L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
}
+ /**
+ * @brief Going to a specified position through the shortest path.
+ * @param position The desired position.
+ * @retval None.
+ */
virtual void GoTo(signed int position)
{
- L6470_GoTo((uint32_t) position);
+ L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
}
+ /**
+ * @brief Going to a specified position imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void GoTo(signed int position, direction_t direction)
{
- L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
+ L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
}
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoHome(void)
{
L6470_GoHome();
}
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
virtual void GoMark(void)
{
L6470_GoMark();
}
- virtual void GoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
+ /**
+ * @brief Running at the given speed imposing the desired direction until
+ * an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed)
{
- L6470_GoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
}
+ /**
+ * @brief Running towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void Run(direction_t direction)
{
L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
}
+ /**
+ * @brief Running towards a specified direction at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ */
virtual void Run(direction_t direction, unsigned int speed)
{
- L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
}
+ /**
+ * @brief Moving towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
virtual void Move(direction_t direction, unsigned int steps)
{
L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
}
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
virtual void SoftStop(void)
{
L6470_SoftStop();
}
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
virtual void HardStop(void)
{
L6470_HardStop();
}
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
+ virtual void SoftHiZ(void)
+ {
+ L6470_SoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void HardHiZ(void)
+ {
+ L6470_HardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
virtual void WaitWhileActive(void)
{
while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
}
- virtual void SoftHiZ(void)
- {
- L6470_SoftHiZ();
- }
-
- virtual void HardHiZ(void)
- {
- L6470_HardHiZ();
- }
-
+ /**
+ * @brief Switching to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
virtual void StepClock(direction_t direction)
{
L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
}
- virtual void ReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
+ /**
+ * @brief Doing a motion at minimum speed imposing a specified direction
+ * until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The direction of rotation.
+ * @note The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction)
{
- L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
}
+ /**
+ * @brief Resetting the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ */
virtual void ResetDevice(void)
{
L6470_ResetDevice();
}
+ /**
+ * @brief Preparing the command to get the status.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetStatus(void)
{
L6470_PrepareGetStatus();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to get a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetParameter(unsigned int parameter)
{
L6470_PrepareGetParam((eL6470_RegId_t) parameter);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to get the position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetPosition(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+ prepared_action = PREPARED_GET_POSITION;
}
+ /**
+ * @brief Preparing the command to get the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMark(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
+ prepared_action = PREPARED_GET_MARK;
}
+ /**
+ * @brief Preparing the command to get the current speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetSpeed(void)
{
- L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ prepared_action = PREPARED_GET_SPEED;
}
+ /**
+ * @brief Preparing the command to get the maximum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMaxSpeed(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+ prepared_action = PREPARED_GET_MAX_SPEED;
}
+ /**
+ * @brief Preparing the command to get the minimum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetMinSpeed(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+ prepared_action = PREPARED_GET_MIN_SPEED;
}
+ /**
+ * @brief Preparing the command to get the acceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetAcceleration(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
+ prepared_action = PREPARED_GET_ACCELERATION;
}
+ /**
+ * @brief Preparing the command to get the deceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGetDeceleration(void)
{
L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
+ prepared_action = PREPARED_GET_DECELERATION;
}
- virtual direction_t PrepareGetDirection(void)
+ /**
+ * @brief Preparing the command to get the direction of rotation.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareGetDirection(void)
{
- return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+ if (!L6470_DaisyChain_HalfPrepared)
+ {
+ /* To avoid deleting the previous entered command. */
+ L6470_DaisyChain_HalfPrepared = ONE_F;
+ /* Resetting commands. */
+ L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
+ }
+ prepared_action = PREPARED_GET_DIRECTION;
}
+ /**
+ * @brief Preparing the command to set a parameter.
+ * @param parameter The parameter's identifier (or its register address).
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetParameter(unsigned int parameter, unsigned int value)
{
L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetHome(void)
{
L6470_PrepareResetPos();
- //L6470_SetParam((eL6470_RegId_t) L6470_ABS_POS_ID, (uint32_t) 0);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetMark(void)
{
- uint32_t mark = L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, mark);
+ /*
+ Set "0" now as marked position. This value will be replaced by the
+ actual position read at the time when the prepared actions will be
+ performed.
+ */
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
+ prepared_action = PREPARED_SET_MARK;
}
+ /**
+ * @brief Preparing the command to set the given position to be
+ * the marked position.
+ * @param position The given position.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetMark(signed int position)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the current speed in pps.
+ * @param speed The current speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetSpeed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetMaxSpeed(unsigned int speed)
{
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) speed);
- }
-
- virtual void PrepareSetMinSpeed(unsigned int speed)
- {
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) speed);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to set the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetMinSpeed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSetAcceleration(unsigned int acceleration)
{
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) acceleration);
- }
-
- virtual void PrepareSetDeceleration(unsigned int deceleration)
- {
- L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) deceleration);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareGoTo(signed int position)
+ /**
+ * @brief Preparing the command to set the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareSetDeceleration(unsigned int deceleration)
{
- L6470_PrepareGoTo((uint32_t) position);
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareGoTo(signed int position)
+ {
+ L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to a specified position
+ * imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoTo(signed int position, direction_t direction)
{
- L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (signed int) position);
+ L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoHome(void)
{
L6470_PrepareGoHome();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to go to the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareGoMark(void)
{
L6470_PrepareGoMark();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run at the given speed imposing the desired
+ * direction until an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ * The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
{
- L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the maximum speed.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareRun(direction_t direction)
{
L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareRun(direction_t direction, unsigned int speed)
{
- L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) speed);
+ L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to move towards a specified direction
+ * for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareMove(direction_t direction, unsigned int steps)
{
L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to stop the motor.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSoftStop(void)
{
L6470_PrepareSoftStop();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to stop the motor and disabling the power bridge.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareHardStop(void)
{
L6470_PrepareHardStop();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to disable the power bridge after performing
+ * a deceleration to zero.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareSoftHiZ(void)
{
L6470_PrepareSoftHiZ();
+ prepared_action = PREPARED_NO_ACTION;
}
+ /**
+ * @brief Preparing the command to disable the power bridge immediately.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
virtual void PrepareHardHiZ(void)
{
L6470_PrepareHardHiZ();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to switch to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareStepClock(direction_t direction)
+ {
+ L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareStepClock(direction_t direction)
+ /**
+ * @brief Preparing the command to do a motion at minimum speed
+ * imposing a specified direction until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ * The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction)
{
- L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to reset the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "PerformAction()".
+ */
+ virtual void PrepareResetDevice(void)
+ {
+ L6470_PrepareResetDevice();
+ prepared_action = PREPARED_NO_ACTION;
}
- virtual void PrepareReleaseSW(eL6470_ActId_t L6470_ActId, direction_t direction)
+ /**
+ * @brief Performing all the actions prepared on the components
+ * of the daisy-chain.
+ * @param None.
+ * @retval The raw data returned by the components.
+ */
+ uint8_t* PerformPreparedActions(void)
{
- L6470_ReleaseSW((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ return L6470_PerformPreparedApplicationCommand();
+ }
+
+ /**
+ * @brief Getting the prepared action.
+ * @param None
+ * @retval The prepared action.
+ */
+ prepared_action_t GetPreparedAction(void)
+ {
+ return prepared_action;
}
- virtual void PrepareResetDevice(void)
+ /**
+ * @brief Converting the raw data received by the component according to
+ * the action performed on it.
+ * @param raw_data The received raw data.
+ * @retval The result of the action performed.
+ */
+ int32_t GetResult(uint8_t *raw_data)
{
- L6470_ResetDevice();
- }
+ switch (prepared_action)
+ {
+ case PREPARED_GET_POSITION:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
+
+ case PREPARED_GET_MARK:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
- virtual uint8_t* PerformAction(void)
- {
- return (uint8_t*) L6470_PerformPreparedApplicationCommand();
+ case PREPARED_GET_SPEED:
+ return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MAX_SPEED:
+ return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MIN_SPEED:
+ return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_ACCELERATION:
+ return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
+
+ case PREPARED_GET_DECELERATION:
+ return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
+
+ case PREPARED_GET_DIRECTION:
+ return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+
+ default:
+ case PREPARED_NO_ACTION:
+ return 0;
+ }
}
@@ -519,8 +1081,8 @@
* } *
*------------------------------------------------------------------------*/
/**
- * @brief Attaching a FLAG interrupt handler.
- * @param fptr an interrupt handler.
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
* @retval None.
*/
void AttachFlagIRQ(void (*fptr)(void))
@@ -529,7 +1091,7 @@
}
/**
- * @brief Enabling FLAG interrupt handling.
+ * @brief Enabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
@@ -539,7 +1101,7 @@
}
/**
- * @brief Disabling FLAG interrupt handling.
+ * @brief Disabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
@@ -548,6 +1110,36 @@
flag_irq.disable_irq();
}
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void AttachBusyIRQ(void (*fptr)(void))
+ {
+ busy_irq.rise(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void EnableBusyIRQ(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void DisableBusyIRQ(void)
+ {
+ busy_irq.disable_irq();
+ }
+
protected:
@@ -641,6 +1233,19 @@
void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
+ /**
+ * @brief Rounding a floating point number to the nearest unsigned integer number.
+ * @param f The floating point number.
+ * @retval The nearest unsigned integer number.
+ */
+ int round(float f)
+ {
+ if (f >= 0)
+ return (int) f + (f - (int) f < 0.5f ? 0 : 1);
+ else
+ return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+ }
+
/*** Component's I/O Methods ***/
@@ -718,49 +1323,63 @@
/*** Component's Instance Variables ***/
- /* Identity */
- uint8_t who_am_i;
-
/* ACTION 9 --------------------------------------------------------------*
- * There should be only a unique identifier for each component, which *
- * should be the "who_am_i" parameter, hence this parameter is optional. *
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
*------------------------------------------------------------------------*/
- /* Type. */
- uint8_t type;
-
/* Flag Interrupt. */
InterruptIn flag_irq;
+ /* Busy Interrupt. */
+ InterruptIn busy_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
/* Standby/reset pin. */
DigitalOut standby_reset;
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
/* Configuration. */
DigitalOut ssel;
/* IO Device. */
DevSPI &dev_spi;
- /* Interrupts. */
- /* ACTION 10 -------------------------------------------------------------*
- * Put here interrupt related objects, if needed. *
- * Note that interrupt handling is platform dependent, see *
- * "Interrupt Related Methods" above. *
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
* *
* Example: *
- * + mbed: *
- * InterruptIn feature_int; *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
*------------------------------------------------------------------------*/
-
/* Data. */
- /* ACTION 11 -------------------------------------------------------------*
- * Declare here the component's data, one variable per line. *
- * *
- * Example: *
- * int T0_out; *
- * int T1_out; *
- * float T0_degC; *
- * float T1_degC; *
- *------------------------------------------------------------------------*/
uint8_t L6470_Id;
const sL6470_Register_t *L6470_Register;
const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
@@ -769,6 +1388,7 @@
sL6470_StatusRegister_t L6470_StatusRegister;
sL6470_StatusRegister_t *pL6470_StatusRegister;
StepperMotorRegister_t StepperMotorRegister;
+ prepared_action_t prepared_action;
/* Static data. */
static uint8_t number_of_devices;