l6470.h

00001 /**
00002  ******************************************************************************
00003  * @file       L6470.h
00004  * @date       01/10/2014 12:00:00
00005  * @brief      This file contains definitions, exported variables and function
00006  *             prototypes related to the L6470.
00007  ******************************************************************************
00008  *
00009  * COPYRIGHT(c) 2014 STMicroelectronics
00010  *
00011  * Redistribution and use in source and binary forms, with or without modification,
00012  * are permitted provided that the following conditions are met:
00013  *   1. Redistributions of source code must retain the above copyright notice,
00014  *      this list of conditions and the following disclaimer.
00015  *   2. Redistributions in binary form must reproduce the above copyright notice,
00016  *      this list of conditions and the following disclaimer in the documentation
00017  *      and/or other materials provided with the distribution.
00018  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00019  *      may be used to endorse or promote products derived from this software
00020  *      without specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00023  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00024  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00025  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00026  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00027  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00028  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00030  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00031  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  ******************************************************************************
00034  */
00035 
00036 
00037 /* Define to prevent recursive inclusion -------------------------------------*/
00038 
00039 #ifndef __L6470_H
00040 #define __L6470_H
00041 
00042 #ifdef __cplusplus
00043  extern "C" {
00044 #endif
00045 
00046 
00047 /* Includes ------------------------------------------------------------------*/
00048 
00049 #include "../Common/microstepping_motor.h"
00050 
00051 
00052 /* Definitions ---------------------------------------------------------------*/
00053 
00054 /** @addtogroup BSP
00055  * @{
00056  */
00057 
00058 /** @addtogroup Components
00059  * @{
00060  */  
00061   
00062 /** @addtogroup L6470
00063  * @{
00064  */
00065   
00066 /** @defgroup L6470_Exported_Defines L6470_Exported_Defines
00067  * @{
00068  */  
00069 
00070 /**
00071   * @defgroup   L6470_Exported_Constants
00072   * @brief      L6470 Exported Constants.
00073   * @{
00074   */
00075 
00076 /**
00077   * @defgroup   L6470_Register_Max_Values
00078   * @brief      Maximum values for L6470 registers.
00079   * @{
00080   */
00081 
00082 #define L6470_MAX_POSITION          (0x1FFFFF)          //!< Max position
00083 #define L6470_MIN_POSITION          (-(0x200000))       //!< Min position
00084 #define L6470_POSITION_RANGE        ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION))   //!< Position range
00085 #define L6470_MAX_SPEED             (0xFFFFF)           //!< max value of SPEED
00086 #define L6470_MAX_ACC               (0xFFF)             //!< max value of ACC
00087 #define L6470_MAX_DEC               (0xFFF)             //!< max value of DEC
00088 #define L6470_MAX_MAX_SPEED         (0x3FF)             //!< max value of MAX_SPEED
00089 #define L6470_MAX_MIN_SPEED         (0xFFF)             //!< max value of MIN_SPEED
00090 #define L6470_MAX_FS_SPD            (0x3FF)             //!< max value of FS_SPD
00091 #define L6470_MAX_INT_SPEED         (0x3FFF)            //!< max value of INT_SPEED
00092 #define L6470_MAX_ST_SLP            (0xFF)              //!< max value of ST_SLP
00093 #define L6470_MAX_FN_SLP_ACC        (0xFF)              //!< max value of FN_SLP_ACC
00094 #define L6470_MAX_FN_SLP_DEC        (0xFF)              //!< max value of FN_SLP_DEC
00095 #define L6470_MAX_OCD_TH            (0xF)               //!< max value of OCD_TH
00096 #define L6470_MAX_STALL_TH          (0x7F)              //!< max value of STALL_TH
00097 
00098 /**
00099   * @}
00100   */ /* End of L6470_Register_Max_Values */
00101 
00102 #define L6470REGIDSIZE          25                  //!< Max number of identifiers of L6470 Registers
00103 #define L6470APPCMDIDSIZE       19                  //!< Max number of identifiers of L6470 Application Commands
00104 #define L6470DIRIDSIZE           2                  //!< Max number of identifiers of L6470 directions
00105 #define L6470ACTIDSIZE           2                  //!< Max number of identifiers of actions to perform about ABS_POS register
00106 #define L6470MAXSPICMDBYTESIZE   4                  //!< Max number of byte to send via SPI to perform an application command
00107 #define L6470DAISYCHAINSIZE      2                  //!< Max number of identifiers of L6470 in daisy chain configuration
00108 
00109 #define L6470_MAX_SPEED_VALUE   ((float)15610)      //!< max value for the speed in step/s
00110 #define L6470_MAX_ACC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
00111 #define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
00112 #define L6470_MAX_DEC_VALUE     ((float)59590)      //!< max value for the acceleration in step/s^2
00113 
00114 #define OCD_TH_STEP             ((float)375)      //!< Minimum step for OCD_TH register in mAmpere
00115 #define STALL_TH_STEP           ((float)31.25)    //!< Minimum step for STALL_TH register in mAmpere
00116 
00117 #define L6470_ACC_CONV          ((float)0.068719)   //!< Conversion factor for acceleration value from step/s^2 to the right value
00118 #define L6470_DEC_CONV          ((float)0.068719)   //!< Conversion factor for deceleration value from step/s^2 to the right value
00119 #define L6470_MAXSPEED_CONV     ((float)0.065536)   //!< Conversion factor for max speed value from step/s to the right value
00120 #define L6470_MINSPEED_CONV     ((float)4.194304)   //!< Conversion factor for min speed value from step/s to the right value
00121 #define L6470_SPEED_CONV        ((float)67.108864)  //!< Conversion factor for speed value from step/s to the right value
00122 
00123 
00124 /* Types ---------------------------------------------------------------------*/
00125 
00126 /**
00127   * @addtogroup BSP
00128   * @{
00129   */
00130 
00131 /**
00132   * @addtogroup Components
00133   * @{
00134   */
00135 
00136 /**
00137   * @defgroup L6470
00138   * @brief    Tools to manage the L6470 Stepper Motor Driver.
00139   * @{
00140   */
00141 
00142 /**
00143   * @defgroup   L6470_Exported_Types
00144   * @brief      L6470 Exported Types.
00145   * @{
00146   */
00147 
00148 /**
00149   * @brief  The structure to store some features of the L6470 Registers.
00150   */
00151 typedef struct {
00152   uint8_t Address;                  //!< Register Address
00153   uint8_t Name[12];                 //!< Register Name
00154   uint8_t LengthBit;                //!< Register Length in bits
00155   uint8_t LengthByte;               //!< Register Length in bytes
00156   uint32_t ResetValue;              //!< Register Reset Value
00157 } sL6470_Register_t;
00158 
00159 /**
00160   * @brief  The structure to store some features of the L6470 Application Commands.
00161   */
00162 typedef struct {
00163   uint8_t Mnemonic[12];             //!< AppCmd Mnemonic
00164   uint8_t BinaryCode;               //!< AppCmd Binary Code
00165   uint8_t NrOfParameters;           //!< AppCmd number of needed parameters
00166 } sL6470_ApplicationCommand_t;
00167 
00168 /**
00169   * @brief  The structure to store some features about the L6470 Motor Direction.
00170   */
00171 typedef struct {
00172   uint8_t Mnemonic[8];              //!< L6470 Direction Mnemonic
00173   uint8_t BinaryCode;               //!< L6470 Direction Binary Code
00174 } sL6470_Direction_t;
00175 
00176 /**
00177   * @brief  The structure to store some features about the action taken with the L6470 ABS_POS register.
00178   */
00179 typedef struct {
00180   uint8_t Mnemonic[4];              //!< ACT Mnemonic
00181   uint8_t BinaryCode;               //!< ACT Binary Code
00182 } sL6470_ACT_t;
00183 
00184 /**
00185   * @brief  The structure used to store the identifier of the L6470 application
00186   *         command and its the needed parameters.
00187   * @note   The data stored into this structure will be used to fill the matrix
00188   *         used by SPI to send the command to the L6470.
00189   */
00190 typedef struct {
00191   eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
00192   uint32_t p1;                      //!< The 1st parameter if needed
00193   uint32_t p2;                      //!< The 2nd parameter if needed
00194   uint32_t p3;                      //!< The 3rd parameter if needed
00195 } sL6470_AppCmdPkg_t;
00196 
00197 /**
00198   * @}
00199   */ /* End of L6470_Exported_Types */
00200 
00201 /** 
00202  * @brief  L6470 driver initialization structure definition.
00203  */
00204 /* ACTION --------------------------------------------------------------------*
00205  * Declare here the component's initialization structure, if any, one         *
00206  * variable per line without initialization.                                  *
00207  *                                                                            *
00208  * Example:                                                                   *
00209  *   typedef struct                                                           *
00210  *   {                                                                        *
00211  *     int frequency;                                                         *
00212  *     int update_mode;                                                       *
00213  *   } COMPONENT_Init_t;                                                      *
00214  *----------------------------------------------------------------------------*/
00215 typedef struct
00216 {
00217   float     motorvoltage;           //!< motor supply voltage in V
00218   float     fullstepsperrevolution; //!< min number of steps per revolution for the motor
00219   float     phasecurrent;           //!< max motor phase voltage in A
00220   float     phasevoltage;           //!< max motor phase voltage in V
00221   float     speed;                  //!< motor initial speed [step/s]
00222   float     acc;                    //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
00223   float     dec;                    //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
00224   float     maxspeed;               //!< motor maximum speed [step/s]
00225   float     minspeed;               //!< motor minimum speed [step/s]
00226   float     fsspd;                  //!< motor full-step speed threshold [step/s]
00227   float     kvalhold;               //!< holding kval [V]
00228   float     kvalrun;                //!< constant speed kval [V]
00229   float     kvalacc;                //!< acceleration starting kval [V]
00230   float     kvaldec;                //!< deceleration starting kval [V]
00231   float     intspeed;               //!< intersect speed for bemf compensation curve slope changing [step/s]
00232   float     stslp;                  //!< start slope [s/step]
00233   float     fnslpacc;               //!< acceleration final slope [s/step]
00234   float     fnslpdec;               //!< deceleration final slope [s/step]
00235   uint8_t   kterm;                  //!< thermal compensation factor (range [0, 15])
00236   float     ocdth;                  //!< ocd threshold [ma] (range [375 ma, 6000 ma])
00237   float     stallth;                //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
00238   uint8_t   step_sel;               //!< step mode selection
00239   uint8_t   alarmen;                //!< alarm conditions enable
00240   uint16_t  config;                 //!< ic configuration
00241 } L6470_Init_t;
00242 
00243 /** 
00244  * @brief  L6470 driver data structure definition.
00245  */ 
00246 /* ACTION --------------------------------------------------------------------*
00247  * Declare here the structure of component's data, if any, one variable per   *
00248  * line without initialization.                                               *
00249  *                                                                            *
00250  * Example:                                                                   *
00251  *   typedef struct                                                           *
00252  *   {                                                                        *
00253  *       int T0_out;                                                          *
00254  *       int T1_out;                                                          *
00255  *       float T0_degC;                                                       *
00256  *       float T1_degC;                                                       *
00257  *   } COMPONENT_Data_t;                                                      *
00258  *----------------------------------------------------------------------------*/
00259 typedef struct
00260 {
00261   uint8_t L6470_Id;                                                                  //!< The L6470 identifier inside the daisy chain
00262   sL6470_Register_t *L6470_Register; //[L6470REGIDSIZE];                             //!< Array whose elements are a structure in which store information about the L6470 Registers (the address, the names, the length in bits, the reset value)
00263   sL6470_ApplicationCommand_t *L6470_ApplicationCommand; //[L6470APPCMDIDSIZE];      //!< Array whose elements are a structure in which store information about the L6470 Application Commands (the mnemonic name, the number of needed parameters, the related funtion to call)
00264   sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE];                           //!< The mnemonic names for the L6470 direction
00265   sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE];                                       //!< Action taken about ABS_POS register
00266   sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];                           //!< To store the identifier of the actual L6470 application command and its the needed parameters
00267   uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];  //!< To store the matrix that contains the command data that are going to be sent by SPI to the L6470 daisy chain
00268   uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];  //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
00269   eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */                       //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
00270   sL6470_StatusRegister_t L6470_StatusRegister;                                      //!< To store the received L6470_StatusRegister
00271   sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */     //!< Pointer to the L6470_StatusRegister variable
00272 } L6470_Data_t;
00273 
00274 
00275 /* Functions -----------------------------------------------------------------*/
00276 
00277 /** @addtogroup BSP
00278  * @{
00279  */
00280 
00281 /** @addtogroup Components
00282  * @{
00283  */
00284 
00285 /** @addtogroup L6470
00286  * @{
00287  */
00288 
00289 /** @defgroup L6470_Imported_Functions L6470_Imported_Functions
00290  * @{
00291  */
00292 
00293 /* ACTION --------------------------------------------------------------------*
00294  * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
00295  * interrupt related functions), and implement them in a glue-logic file on   *
00296  * the target environment, for example within the "x_nucleo_board.c" file.    *
00297  * E.g.:                                                                      *
00298  *   extern Status_t COMPONENT_IO_Init (void *handle);                        *
00299  *   extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
00300  *   extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
00301  *   extern void     COMPONENT_IO_ITConfig(void);                             *
00302  *----------------------------------------------------------------------------*/
00303 extern void L6470_DISABLE(void);
00304 extern void L6470_ENABLE(void);
00305 extern void L6470_nCS_LOW(void);
00306 extern void L6470_nCS_HIGH(void);
00307 extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
00308 
00309 #ifdef __cplusplus
00310 }
00311 #endif
00312 
00313 #endif /* __L6470_H */
00314 
00315 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/