Luca Istorico
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the L6470 component.
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Components/l6470/l6470_class.h
- Committer:
- Davidroid
- Date:
- 2016-02-09
- Revision:
- 14:e614697ebf34
- Parent:
- 13:25a579b9b7c3
- Child:
- 15:31785d1acd4b
File content as of revision 14:e614697ebf34:
/**
******************************************************************************
* @file l6470_class.h
* @author Davide Aliprandi, STMicroelectronics
* @version V1.0.0
* @date November 12th, 2015
* @brief This file contains the class of an L6470 Motor Control component.
******************************************************************************
*
* COPYRIGHT(c) 2014 STMicroelectronics
*
* Redistribution and use in source and binary forms, with or without modification,
* are permitted provided that the following conditions are met:
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of STMicroelectronics nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
******************************************************************************
*/
/* Generated with Stm32CubeTOO -----------------------------------------------*/
/* Revision ------------------------------------------------------------------*/
/*
Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Branch/Trunk/Tag: trunk
Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
Revision: 0
*/
/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __L6470_CLASS_H
#define __L6470_CLASS_H
/* Includes ------------------------------------------------------------------*/
/* ACTION 1 ------------------------------------------------------------------*
* Include here platform specific header files. *
*----------------------------------------------------------------------------*/
#include "mbed.h"
#include "DevSPI.h"
/* ACTION 2 ------------------------------------------------------------------*
* Include here component specific header files. *
*----------------------------------------------------------------------------*/
#include "l6470.h"
/* ACTION 3 ------------------------------------------------------------------*
* Include here interface specific header files. *
* *
* Example: *
* #include "../Interfaces/Humidity_class.h" *
* #include "../Interfaces/Temperature_class.h" *
*----------------------------------------------------------------------------*/
#include "../Interfaces/StepperMotor_class.h"
/* Classes -------------------------------------------------------------------*/
/**
* @brief Class representing a L6470 component.
*/
class L6470 : public StepperMotor
{
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 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 *
* line. *
* *
* Example: *
* measure = 0; *
* instance_id = number_of_instances++; *
*--------------------------------------------------------------------*/
L6470_Register = &_L6470_Register[0];
L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
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));
memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
}
/**
* @brief Destructor.
*/
virtual ~L6470(void) {}
/*** Public Component Related Methods ***/
/* ACTION 5 --------------------------------------------------------------*
* Implement here the component's public methods, as wrappers of the C *
* component's functions. *
* They should be: *
* + Methods with the same name of the C component's virtual table's *
* functions (1); *
* + Methods with the same name of the C component's extended virtual *
* table's functions, if any (2). *
* *
* Example: *
* virtual int GetValue(float *f) //(1) *
* { *
* return COMPONENT_GetValue(float *f); *
* } *
* *
* virtual int EnableFeature(void) //(2) *
* { *
* 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((void *) 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 float GetParameter(unsigned int parameter)
{
return (float) L6470_GetParam((eL6470_RegId_t) parameter);
}
/**
* @brief Getting the position.
* @param None.
* @retval The position.
*/
virtual signed int GetPosition(void)
{
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_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 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 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 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 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 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, float 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();
}
/**
* @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));
}
/**
* @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) 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) 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) 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) 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) 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), (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();
}
/**
* @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) 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) 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);
}
/**
* @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));
}
/**
* @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) 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_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;
}
/**
* @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)
{
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();
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)
{
/*
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) 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) L6470_Step_s2_2_Acc((float) acceleration));
prepared_action = PREPARED_NO_ACTION;
}
/**
* @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_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), (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) 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) 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;
}
/**
* @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_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;
}
/**
* @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)
{
return L6470_PerformPreparedApplicationCommand();
}
/**
* @brief Getting the prepared action.
* @param None
* @retval The prepared action.
*/
prepared_action_t GetPreparedAction(void)
{
return prepared_action;
}
/**
* @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)
{
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));
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;
}
}
/*** Public Interrupt Related Methods ***/
/* ACTION 6 --------------------------------------------------------------*
* Implement here interrupt related methods, if any. *
* Note that interrupt handling is platform dependent, e.g.: *
* + mbed: *
* InterruptIn feature_irq(pin); //Interrupt object. *
* feature_irq.fall(callback); //Attach a callback. *
* feature_irq.mode(PullNone); //Set interrupt mode. *
* feature_irq.enable_irq(); //Enable interrupt. *
* feature_irq.disable_irq(); //Disable interrupt. *
* + Arduino: *
* attachInterrupt(pin, callback, RISING); //Attach a callback. *
* detachInterrupt(pin); //Detach a callback. *
* *
* Example (mbed): *
* void AttachFeatureIRQ(void (*fptr) (void)) *
* { *
* feature_irq.fall(fptr); *
* } *
* *
* void EnableFeatureIRQ(void) *
* { *
* feature_irq.enable_irq(); *
* } *
* *
* void DisableFeatureIRQ(void) *
* { *
* feature_irq.disable_irq(); *
* } *
*------------------------------------------------------------------------*/
/**
* @brief Attaching an interrupt handler to the FLAG interrupt.
* @param fptr An interrupt handler.
* @retval None.
*/
void AttachFlagIRQ(void (*fptr)(void))
{
flag_irq.fall(fptr);
}
/**
* @brief Enabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
void EnableFlagIRQ(void)
{
flag_irq.enable_irq();
}
/**
* @brief Disabling the FLAG interrupt handling.
* @param None.
* @retval None.
*/
void DisableFlagIRQ(void)
{
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.fall(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:
/*** Protected Component Related Methods ***/
/* ACTION 7 --------------------------------------------------------------*
* Declare here the component's specific methods. *
* They should be: *
* + Methods with the same name of the C component's virtual table's *
* functions (1); *
* + Methods with the same name of the C component's extended virtual *
* table's functions, if any (2); *
* + Helper methods, if any, like functions declared in the component's *
* source files but not pointed by the component's virtual table (3). *
* *
* Example: *
* Status_t COMPONENT_GetValue(float *f); //(1) *
* Status_t COMPONENT_EnableFeature(void); //(2) *
* Status_t COMPONENT_ComputeAverage(void); //(3) *
*------------------------------------------------------------------------*/
int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
uint32_t L6470_Position_2_AbsPos(int32_t Position);
float L6470_Speed_2_Step_s(uint32_t Speed);
uint32_t L6470_Step_s_2_Speed(float Step_s);
float L6470_Acc_2_Step_s2(uint16_t Acc);
uint16_t L6470_Step_s2_2_Acc(float Step_s2);
float L6470_Dec_2_Step_s2(uint16_t Dec);
uint16_t L6470_Step_s2_2_Dec(float Step_s2);
float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
uint16_t L6470_Step_s_2_FsSpd(float Step_s);
float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
float L6470_StSlp_2_s_Step(uint8_t StSlp);
uint8_t L6470_s_Step_2_StSlp(float s_Step);
float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
float L6470_OcdTh_2_mA(uint8_t OcdTh);
uint8_t L6470_mA_2_OcdTh(float mA);
float L6470_StallTh_2_mA(uint8_t StallTh);
uint8_t L6470_mA_2_StallTh(float mA);
Status_t L6470_Config(void *init);
void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
void L6470_StepClock(eL6470_DirId_t L6470_DirId);
void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
void L6470_GoTo(uint32_t AbsPos);
void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
void L6470_GoHome(void);
void L6470_GoMark(void);
void L6470_ResetPos(void);
void L6470_ResetDevice(void);
void L6470_SoftStop(void);
void L6470_HardStop(void);
void L6470_SoftHiZ(void);
void L6470_HardHiZ(void);
uint16_t L6470_GetStatus(void);
void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
void L6470_PrepareGoTo(uint32_t AbsPos);
void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
void L6470_PrepareGoHome(void);
void L6470_PrepareGoMark(void);
void L6470_PrepareResetPos(void);
void L6470_PrepareResetDevice(void);
void L6470_PrepareSoftStop(void);
void L6470_PrepareHardStop(void);
void L6470_PrepareSoftHiZ(void);
void L6470_PrepareHardHiZ(void);
void L6470_PrepareGetStatus(void);
uint8_t* L6470_PerformPreparedApplicationCommand(void);
void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
uint8_t* L6470_GetRegisterName(uint8_t id);
void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
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 ***/
/**
* @brief Utility function to read data from L6470.
* @param[out] pBuffer pointer to the buffer to read data into.
* @param[in] NumBytesToRead number of bytes to read.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
{
if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
return COMPONENT_ERROR;
return COMPONENT_OK;
}
/**
* @brief Utility function to write data to L6470.
* @param[in] pBuffer pointer to the buffer of data to send.
* @param[in] NumBytesToWrite number of bytes to write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
{
if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
return COMPONENT_ERROR;
return COMPONENT_OK;
}
/**
* @brief Utility function to read and write data from/to L6470 at the same time.
* @param[out] pBufferToRead pointer to the buffer to read data into.
* @param[in] pBufferToWrite pointer to the buffer of data to send.
* @param[in] NumBytes number of bytes to read and write.
* @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
*/
Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
{
if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
return COMPONENT_ERROR;
return COMPONENT_OK;
}
/* ACTION 8 --------------------------------------------------------------*
* Implement here other I/O methods beyond those already implemented *
* above, which are declared extern within the component's header file. *
*------------------------------------------------------------------------*/
/*
* Puts the device in standby mode.
*/
void L6470_ENABLE(void)
{
standby_reset = 1;
}
/*
* Puts the device in reset mode.
*/
void L6470_DISABLE(void)
{
standby_reset = 0;
}
/*
* Write and read bytes to/from the component through the SPI at the same time.
*/
void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout)
{
ReadWrite(pRxData, pTxData, Size);
}
/*** Component's Instance Variables ***/
/* ACTION 9 --------------------------------------------------------------*
* Declare here interrupt related variables, if needed. *
* Note that interrupt handling is platform dependent, see *
* "Interrupt Related Methods" above. *
* *
* Example: *
* + mbed: *
* InterruptIn feature_irq; *
*------------------------------------------------------------------------*/
/* 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;
/* 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: *
* float measure; *
* int instance_id; *
* static int number_of_instances; *
*------------------------------------------------------------------------*/
/* Data. */
uint8_t L6470_Id;
const sL6470_Register_t *L6470_Register;
const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
const sL6470_Direction_t *L6470_Direction;
const sL6470_ACT_t *L6470_ACT;
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;
static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
};
#endif /* __L6470_CLASS_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/