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l6470_class.h
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00001 /** 00002 ****************************************************************************** 00003 * @file l6470_class.h 00004 * @author Davide Aliprandi, STMicroelectronics 00005 * @version V1.0.0 00006 * @date November 12th, 2015 00007 * @brief This file contains the class of an L6470 Motor Control component. 00008 ****************************************************************************** 00009 * 00010 * COPYRIGHT(c) 2014 STMicroelectronics 00011 * 00012 * Redistribution and use in source and binary forms, with or without modification, 00013 * are permitted provided that the following conditions are met: 00014 * 1. Redistributions of source code must retain the above copyright notice, 00015 * this list of conditions and the following disclaimer. 00016 * 2. Redistributions in binary form must reproduce the above copyright notice, 00017 * this list of conditions and the following disclaimer in the documentation 00018 * and/or other materials provided with the distribution. 00019 * 3. Neither the name of STMicroelectronics nor the names of its contributors 00020 * may be used to endorse or promote products derived from this software 00021 * without specific prior written permission. 00022 * 00023 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00024 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00025 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00026 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 00027 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 00028 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 00029 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 00031 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 00032 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 ****************************************************************************** 00035 */ 00036 00037 00038 /* Generated with STM32CubeTOO -----------------------------------------------*/ 00039 00040 00041 /* Revision ------------------------------------------------------------------*/ 00042 /* 00043 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev 00044 Branch/Trunk/Tag: trunk 00045 Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h 00046 Revision: 0 00047 */ 00048 00049 00050 /* Define to prevent recursive inclusion -------------------------------------*/ 00051 00052 #ifndef __L6470_CLASS_H 00053 #define __L6470_CLASS_H 00054 00055 00056 /* Includes ------------------------------------------------------------------*/ 00057 00058 /* ACTION 1 ------------------------------------------------------------------* 00059 * Include here platform specific header files. * 00060 *----------------------------------------------------------------------------*/ 00061 #include "mbed.h" 00062 #include "DevSPI.h" 00063 /* ACTION 2 ------------------------------------------------------------------* 00064 * Include here component specific header files. * 00065 *----------------------------------------------------------------------------*/ 00066 #include "l6470.h" 00067 /* ACTION 3 ------------------------------------------------------------------* 00068 * Include here interface specific header files. * 00069 * * 00070 * Example: * 00071 * #include "../Interfaces/Humidity_class.h" * 00072 * #include "../Interfaces/Temperature_class.h" * 00073 *----------------------------------------------------------------------------*/ 00074 #include "../Interfaces/StepperMotor_class.h" 00075 00076 00077 /* Classes -------------------------------------------------------------------*/ 00078 00079 /** 00080 * @brief Class representing a L6470 component. 00081 */ 00082 class L6470 : public StepperMotor 00083 { 00084 public: 00085 00086 /*** Public Component Related Types ***/ 00087 00088 /** 00089 * @brief Prepared Actions. 00090 */ 00091 typedef enum 00092 { 00093 PREPARED_NO_ACTION = 0, 00094 PREPARED_GET_POSITION, 00095 PREPARED_GET_MARK, 00096 PREPARED_GET_SPEED, 00097 PREPARED_GET_MAX_SPEED, 00098 PREPARED_GET_MIN_SPEED, 00099 PREPARED_GET_ACCELERATION, 00100 PREPARED_GET_DECELERATION, 00101 PREPARED_GET_DIRECTION, 00102 PREPARED_SET_MARK 00103 } prepared_action_t; 00104 00105 00106 /*** Constructor and Destructor Methods ***/ 00107 00108 /** 00109 * @brief Constructor. 00110 * @param flag_irq pin name of the FLAG pin of the component. 00111 * @param busy_irq pin name of the BUSY pin of the component. 00112 * @param standby_reset pin name of the STBY\RST pin of the component. 00113 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication. 00114 * @param spi SPI device to be used for communication. 00115 */ 00116 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) 00117 { 00118 /* ACTION 4 ----------------------------------------------------------* 00119 * Initialize here the component's member variables, one variable per * 00120 * line. * 00121 * * 00122 * Example: * 00123 * measure = 0; * 00124 * instance_id = number_of_instances++; * 00125 *--------------------------------------------------------------------*/ 00126 L6470_Register = &_L6470_Register[0]; 00127 L6470_ApplicationCommand = &_L6470_ApplicationCommand[0]; 00128 L6470_Direction = &_L6470_Direction[0]; 00129 L6470_ACT = &_L6470_ACT[0]; 00130 pL6470_StatusRegister = &L6470_StatusRegister; 00131 prepared_action = PREPARED_NO_ACTION; 00132 L6470_Id = (number_of_devices++)%(L6470DAISYCHAINSIZE); 00133 L6470_DaisyChain_HalfPrepared = ZERO_F; 00134 memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t)); 00135 memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t)); 00136 memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t)); 00137 } 00138 00139 /** 00140 * @brief Destructor. 00141 */ 00142 virtual ~L6470(void) {} 00143 00144 00145 /*** Public Component Related Methods ***/ 00146 00147 /* ACTION 5 --------------------------------------------------------------* 00148 * Implement here the component's public methods, as wrappers of the C * 00149 * component's functions. * 00150 * They should be: * 00151 * + Methods with the same name of the C component's virtual table's * 00152 * functions (1); * 00153 * + Methods with the same name of the C component's extended virtual * 00154 * table's functions, if any (2). * 00155 * * 00156 * Example: * 00157 * virtual int GetValue(float *f) //(1) * 00158 * { * 00159 * return COMPONENT_GetValue(float *f); * 00160 * } * 00161 * * 00162 * virtual int EnableFeature(void) //(2) * 00163 * { * 00164 * return COMPONENT_EnableFeature(); * 00165 * } * 00166 *------------------------------------------------------------------------*/ 00167 /** 00168 * @brief Initializing the component. 00169 * @param init Pointer to device specific initalization structure. 00170 * @retval "0" in case of success, an error code otherwise. 00171 */ 00172 virtual int Init(void *init) 00173 { 00174 return (int) L6470_Config((void *) init); 00175 } 00176 00177 /** 00178 * @brief Getting the ID of the component. 00179 * @param id Pointer to an allocated variable to store the ID into. 00180 * @retval "0" in case of success, an error code otherwise. 00181 */ 00182 virtual int ReadID(uint8_t *id) 00183 { 00184 return (int) 0; 00185 } 00186 00187 /** 00188 * @brief Getting the status. 00189 * @param None. 00190 * @retval The status. 00191 */ 00192 virtual unsigned int GetStatus(void) 00193 { 00194 return (unsigned int) L6470_GetStatus(); 00195 } 00196 00197 /** 00198 * @brief Getting a parameter. 00199 * @param parameter A parameter's register address. 00200 * @retval The parameter's value. 00201 * @note The parameter can be one of the following: 00202 * + L6470_ABS_POS_ID 00203 * + L6470_EL_POS_ID 00204 * + L6470_MARK_ID 00205 * + L6470_SPEED_ID 00206 * + L6470_ACC_ID 00207 * + L6470_DEC_ID 00208 * + L6470_MAX_SPEED_ID 00209 * + L6470_MIN_SPEED_ID 00210 * + L6470_FS_SPD_ID 00211 * + L6470_KVAL_HOLD_ID 00212 * + L6470_KVAL_RUN_ID 00213 * + L6470_KVAL_ACC_ID 00214 * + L6470_KVAL_DEC_ID 00215 * + L6470_INT_SPEED_ID 00216 * + L6470_ST_SLP_ID 00217 * + L6470_FN_SLP_ACC_ID 00218 * + L6470_FN_SLP_DEC_ID 00219 * + L6470_K_THERM_ID 00220 * + L6470_ADC_OUT_ID 00221 * + L6470_OCD_TH_ID 00222 * + L6470_STALL_TH_ID 00223 * + L6470_STEP_MODE_ID 00224 * + L6470_ALARM_EN_ID 00225 * + L6470_CONFIG_ID 00226 * + L6470_STATUS_ID 00227 */ 00228 virtual unsigned int GetParameter(unsigned int parameter) 00229 { 00230 return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter); 00231 } 00232 00233 /** 00234 * @brief Getting the position. 00235 * @param None. 00236 * @retval The position. 00237 */ 00238 virtual signed int GetPosition(void) 00239 { 00240 return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID)); 00241 } 00242 00243 /** 00244 * @brief Getting the marked position. 00245 * @param None. 00246 * @retval The marked position. 00247 */ 00248 virtual signed int GetMark(void) 00249 { 00250 return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID)); 00251 } 00252 00253 /** 00254 * @brief Getting the current speed in pps. 00255 * @param None. 00256 * @retval The current speed in pps. 00257 */ 00258 virtual unsigned int GetSpeed(void) 00259 { 00260 return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID))); 00261 } 00262 00263 /** 00264 * @brief Getting the maximum speed in pps. 00265 * @param None. 00266 * @retval The maximum speed in pps. 00267 */ 00268 virtual unsigned int GetMaxSpeed(void) 00269 { 00270 return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID))); 00271 } 00272 00273 /** 00274 * @brief Getting the minimum speed in pps. 00275 * @param None. 00276 * @retval The minimum speed in pps. 00277 */ 00278 virtual unsigned int GetMinSpeed(void) 00279 { 00280 return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID))); 00281 } 00282 00283 /** 00284 * @brief Getting the acceleration in pps^2. 00285 * @param None. 00286 * @retval The acceleration in pps^2. 00287 */ 00288 virtual unsigned int GetAcceleration(void) 00289 { 00290 return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID))); 00291 } 00292 00293 /** 00294 * @brief Getting the deceleration in pps^2. 00295 * @param None. 00296 * @retval The deceleration in pps^2. 00297 */ 00298 virtual unsigned int GetDeceleration(void) 00299 { 00300 return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID))); 00301 } 00302 00303 /** 00304 * @brief Getting the direction of rotation. 00305 * @param None. 00306 * @retval The direction of rotation. 00307 */ 00308 virtual direction_t GetDirection(void) 00309 { 00310 return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD); 00311 } 00312 00313 /** 00314 * @brief Setting a parameter. 00315 * @param parameter A parameter's register address. 00316 * @param value The parameter's value. 00317 * @retval None. 00318 * @note The parameter can be one of the following: 00319 * + L6470_ABS_POS_ID 00320 * + L6470_EL_POS_ID 00321 * + L6470_MARK_ID 00322 * + L6470_SPEED_ID 00323 * + L6470_ACC_ID 00324 * + L6470_DEC_ID 00325 * + L6470_MAX_SPEED_ID 00326 * + L6470_MIN_SPEED_ID 00327 * + L6470_FS_SPD_ID 00328 * + L6470_KVAL_HOLD_ID 00329 * + L6470_KVAL_RUN_ID 00330 * + L6470_KVAL_ACC_ID 00331 * + L6470_KVAL_DEC_ID 00332 * + L6470_INT_SPEED_ID 00333 * + L6470_ST_SLP_ID 00334 * + L6470_FN_SLP_ACC_ID 00335 * + L6470_FN_SLP_DEC_ID 00336 * + L6470_K_THERM_ID 00337 * + L6470_ADC_OUT_ID 00338 * + L6470_OCD_TH_ID 00339 * + L6470_STALL_TH_ID 00340 * + L6470_STEP_MODE_ID 00341 * + L6470_ALARM_EN_ID 00342 * + L6470_CONFIG_ID 00343 * + L6470_STATUS_ID 00344 * @warning Some registers can only be written in particular conditions (see L6470's datasheet). 00345 * Any attempt to write one of those registers when the conditions are not satisfied 00346 * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the 00347 * last argument byte. Any attempt to set an inexistent register (wrong address value) 00348 * causes the command to be ignored and the WRONG_CMD flag to rise. 00349 * For example, setting some parameters requires first to disable the power bridge; 00350 * this can be done through the SoftHiZ() method. 00351 * They are the following: 00352 * + L6470_ABS_POS_ID 00353 * + L6470_EL_POS_ID 00354 * + L6470_SPEED_ID 00355 * + L6470_ACC_ID 00356 * + L6470_DEC_ID 00357 * + L6470_MAX_SPEED_ID 00358 * + L6470_MIN_SPEED_ID 00359 * + L6470_INT_SPEED_ID 00360 * + L6470_ST_SLP_ID 00361 * + L6470_FN_SLP_ACC_ID 00362 * + L6470_FN_SLP_DEC_ID 00363 * + L6470_ADC_OUT_ID 00364 * + L6470_STEP_MODE_ID 00365 * + L6470_CONFIG_ID 00366 * + L6470_STATUS_ID 00367 */ 00368 virtual void SetParameter(unsigned int parameter, unsigned int value) 00369 { 00370 L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value); 00371 } 00372 00373 /** 00374 * @brief Setting the current position to be the home position. 00375 * @param None. 00376 * @retval None. 00377 */ 00378 virtual void SetHome(void) 00379 { 00380 L6470_ResetPos(); 00381 } 00382 00383 /** 00384 * @brief Setting the current position to be the marked position. 00385 * @param None. 00386 * @retval None. 00387 */ 00388 virtual void SetMark(void) 00389 { 00390 L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID)); 00391 } 00392 00393 /** 00394 * @brief Setting the current position to be the marked position. 00395 * @param position The given position. 00396 * @retval None. 00397 */ 00398 virtual void SetMark(signed int position) 00399 { 00400 L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position)); 00401 } 00402 00403 /** 00404 * @brief Setting the maximum speed in pps. 00405 * @param speed The maximum speed in pps. 00406 * @retval "true" in case of success, "false" otherwise. 00407 */ 00408 virtual bool SetMaxSpeed(unsigned int speed) 00409 { 00410 L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed)); 00411 return true; 00412 } 00413 00414 /** 00415 * @brief Setting the minimum speed in pps. 00416 * @param speed The minimum speed in pps. 00417 * @retval "true" in case of success, "false" otherwise. 00418 */ 00419 virtual bool SetMinSpeed(unsigned int speed) 00420 { 00421 L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed)); 00422 return true; 00423 } 00424 00425 /** 00426 * @brief Setting the acceleration in pps^2. 00427 * @param acceleration The acceleration in pps^2. 00428 * @retval "true" in case of success, "false" otherwise. 00429 */ 00430 virtual bool SetAcceleration(unsigned int acceleration) 00431 { 00432 L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration)); 00433 return true; 00434 } 00435 00436 /** 00437 * @brief Setting the deceleration in pps^2. 00438 * @param deceleration The deceleration in pps^2. 00439 * @retval "true" in case of success, "false" otherwise. 00440 */ 00441 virtual bool SetDeceleration(unsigned int deceleration) 00442 { 00443 L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration)); 00444 return true; 00445 } 00446 00447 /** 00448 * @brief Setting the Step Mode. 00449 * @param step_mode The Step Mode. 00450 * @retval "true" in case of success, "false" otherwise. 00451 * @warning Setting the step mode implies first disabling the power bridge through 00452 * the SoftHiZ() method. 00453 * @warning Every time step mode is changed, the values of the home 00454 * and mark positions lose meaning and are reset. 00455 */ 00456 virtual bool SetStepMode(step_mode_t step_mode) 00457 { 00458 if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128) 00459 return false; 00460 00461 SoftHiZ(); 00462 L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode); 00463 return true; 00464 } 00465 00466 /** 00467 * @brief Going to a specified position through the shortest path. 00468 * @param position The desired position. 00469 * @retval None. 00470 */ 00471 virtual void GoTo(signed int position) 00472 { 00473 L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position)); 00474 } 00475 00476 /** 00477 * @brief Going to a specified position imposing the desired direction. 00478 * @param position The desired position. 00479 * @param direction The direction of rotation. 00480 * @retval None. 00481 */ 00482 virtual void GoTo(signed int position, direction_t direction) 00483 { 00484 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)); 00485 } 00486 00487 /** 00488 * @brief Going to the home position. 00489 * @param None. 00490 * @retval None. 00491 */ 00492 virtual void GoHome(void) 00493 { 00494 L6470_GoHome(); 00495 } 00496 00497 /** 00498 * @brief Going to the marked position. 00499 * @param None. 00500 * @retval None. 00501 */ 00502 virtual void GoMark(void) 00503 { 00504 L6470_GoMark(); 00505 } 00506 00507 /** 00508 * @brief Running at the given speed imposing the desired direction until 00509 * an external switch turn-on event occurs. 00510 * @param action The identifier of the action about the absolute position. 00511 * @param position The desired position. 00512 * @param speed The speed value in pps. 00513 * @retval None. 00514 * @note The identifier of the action about the absolute position can be 00515 * one of the following: 00516 * + L6470_ACT_RST_ID: the absolute position is reset; 00517 * + L6470_ACT_CPY_ID: the absolute position is set as the marked position. 00518 */ 00519 virtual void GoUntil(eL6470_ActId_t action, direction_t direction, unsigned int speed) 00520 { 00521 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)); 00522 } 00523 00524 /** 00525 * @brief Running towards a specified direction. 00526 * @param direction The direction of rotation. 00527 * @retval None. 00528 */ 00529 virtual void Run(direction_t direction) 00530 { 00531 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)); 00532 } 00533 00534 /** 00535 * @brief Running towards a specified direction at the given speed. 00536 * @param direction The direction of rotation. 00537 * @param speed The speed value in pps. 00538 * @retval None. 00539 */ 00540 virtual void Run(direction_t direction, unsigned int speed) 00541 { 00542 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)); 00543 } 00544 00545 /** 00546 * @brief Moving towards a specified direction for a certain number of steps. 00547 * @param direction The direction of rotation. 00548 * @param steps The desired number of steps. 00549 * @retval None. 00550 */ 00551 virtual void Move(direction_t direction, unsigned int steps) 00552 { 00553 L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps); 00554 } 00555 00556 /** 00557 * @brief Stopping the motor through an immediate deceleration up to zero speed. 00558 * The used deceleration value is the one stored in the "DEC" register. 00559 * @param None. 00560 * @retval None. 00561 */ 00562 virtual void SoftStop(void) 00563 { 00564 L6470_SoftStop(); 00565 } 00566 00567 /** 00568 * @brief Stopping the motor through an immediate infinite deceleration. 00569 * @param None. 00570 * @retval None. 00571 */ 00572 virtual void HardStop(void) 00573 { 00574 L6470_HardStop(); 00575 } 00576 00577 /** 00578 * @brief Disabling the power bridge after performing a deceleration to zero. 00579 * The used deceleration value is the one stored in the "DEC" register. 00580 * @param None. 00581 * @retval None. 00582 */ 00583 virtual void SoftHiZ(void) 00584 { 00585 L6470_SoftHiZ(); 00586 } 00587 00588 /** 00589 * @brief Disabling the power bridge immediately. 00590 * @param None. 00591 * @retval None. 00592 */ 00593 virtual void HardHiZ(void) 00594 { 00595 L6470_HardHiZ(); 00596 } 00597 00598 /** 00599 * @brief Waiting while the motor is active. 00600 * @param None. 00601 * @retval None. 00602 */ 00603 virtual void WaitWhileActive(void) 00604 { 00605 while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0); 00606 } 00607 00608 /** 00609 * @brief Switching to step-clock mode. 00610 * @param direction The direction of rotation. 00611 * @retval None. 00612 * @warning Setting the step-clock mode implies first disabling the power bridge through 00613 * the SoftHiZ() method. 00614 */ 00615 virtual void StepClock(direction_t direction) 00616 { 00617 SoftHiZ(); 00618 L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID)); 00619 } 00620 00621 /** 00622 * @brief Doing a motion at minimum speed imposing a specified direction 00623 * until the SW is released. 00624 * @param action The identifier of the action about the absolute position. 00625 * @param direction The direction of rotation. 00626 * @note The identifier of the action about the absolute position can be 00627 * one of the following: 00628 * + L6470_ACT_RST_ID: the absolute position is reset; 00629 * + L6470_ACT_CPY_ID: the absolute position is set as the marked position. 00630 */ 00631 virtual void ReleaseSW(eL6470_ActId_t action, direction_t direction) 00632 { 00633 L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID)); 00634 } 00635 00636 /** 00637 * @brief Resetting the device to power-up conditions. 00638 * @param None. 00639 * @retval None. 00640 */ 00641 virtual void ResetDevice(void) 00642 { 00643 L6470_ResetDevice(); 00644 } 00645 00646 /** 00647 * @brief Preparing the command to get the status. 00648 * @param None. 00649 * @retval None. 00650 * @note The command will be sent by issuing "PerformAction()". 00651 */ 00652 virtual void PrepareGetStatus(void) 00653 { 00654 L6470_PrepareGetStatus(); 00655 prepared_action = PREPARED_NO_ACTION; 00656 } 00657 00658 /** 00659 * @brief Preparing the command to get a parameter. 00660 * @param parameter A parameter's register address. 00661 * @retval None. 00662 * @note The command will be sent by issuing "PerformAction()". 00663 * The parameter can be one of the following: 00664 * + L6470_ABS_POS_ID 00665 * + L6470_EL_POS_ID 00666 * + L6470_MARK_ID 00667 * + L6470_SPEED_ID 00668 * + L6470_ACC_ID 00669 * + L6470_DEC_ID 00670 * + L6470_MAX_SPEED_ID 00671 * + L6470_MIN_SPEED_ID 00672 * + L6470_FS_SPD_ID 00673 * + L6470_KVAL_HOLD_ID 00674 * + L6470_KVAL_RUN_ID 00675 * + L6470_KVAL_ACC_ID 00676 * + L6470_KVAL_DEC_ID 00677 * + L6470_INT_SPEED_ID 00678 * + L6470_ST_SLP_ID 00679 * + L6470_FN_SLP_ACC_ID 00680 * + L6470_FN_SLP_DEC_ID 00681 * + L6470_K_THERM_ID 00682 * + L6470_ADC_OUT_ID 00683 * + L6470_OCD_TH_ID 00684 * + L6470_STALL_TH_ID 00685 * + L6470_STEP_MODE_ID 00686 * + L6470_ALARM_EN_ID 00687 * + L6470_CONFIG_ID 00688 * + L6470_STATUS_ID 00689 */ 00690 virtual void PrepareGetParameter(unsigned int parameter) 00691 { 00692 L6470_PrepareGetParam((eL6470_RegId_t) parameter); 00693 prepared_action = PREPARED_NO_ACTION; 00694 } 00695 00696 /** 00697 * @brief Preparing the command to get the position. 00698 * @param None. 00699 * @retval None. 00700 * @note The command will be sent by issuing "PerformAction()". 00701 */ 00702 virtual void PrepareGetPosition(void) 00703 { 00704 L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID); 00705 prepared_action = PREPARED_GET_POSITION; 00706 } 00707 00708 /** 00709 * @brief Preparing the command to get the marked position. 00710 * @param None. 00711 * @retval None. 00712 * @note The command will be sent by issuing "PerformAction()". 00713 */ 00714 virtual void PrepareGetMark(void) 00715 { 00716 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID); 00717 prepared_action = PREPARED_GET_MARK; 00718 } 00719 00720 /** 00721 * @brief Preparing the command to get the current speed in pps. 00722 * @param None. 00723 * @retval None. 00724 * @note The command will be sent by issuing "PerformAction()". 00725 */ 00726 virtual void PrepareGetSpeed(void) 00727 { 00728 L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID); 00729 prepared_action = PREPARED_GET_SPEED; 00730 } 00731 00732 /** 00733 * @brief Preparing the command to get the maximum speed in pps. 00734 * @param None. 00735 * @retval None. 00736 * @note The command will be sent by issuing "PerformAction()". 00737 */ 00738 virtual void PrepareGetMaxSpeed(void) 00739 { 00740 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID); 00741 prepared_action = PREPARED_GET_MAX_SPEED; 00742 } 00743 00744 /** 00745 * @brief Preparing the command to get the minimum speed in pps. 00746 * @param None. 00747 * @retval None. 00748 * @note The command will be sent by issuing "PerformAction()". 00749 */ 00750 virtual void PrepareGetMinSpeed(void) 00751 { 00752 L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID); 00753 prepared_action = PREPARED_GET_MIN_SPEED; 00754 } 00755 00756 /** 00757 * @brief Preparing the command to get the acceleration in pps^2. 00758 * @param None. 00759 * @retval None. 00760 * @note The command will be sent by issuing "PerformAction()". 00761 */ 00762 virtual void PrepareGetAcceleration(void) 00763 { 00764 L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID); 00765 prepared_action = PREPARED_GET_ACCELERATION; 00766 } 00767 00768 /** 00769 * @brief Preparing the command to get the deceleration in pps^2. 00770 * @param None. 00771 * @retval None. 00772 * @note The command will be sent by issuing "PerformAction()". 00773 */ 00774 virtual void PrepareGetDeceleration(void) 00775 { 00776 L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID); 00777 prepared_action = PREPARED_GET_DECELERATION; 00778 } 00779 00780 /** 00781 * @brief Preparing the command to get the direction of rotation. 00782 * @param None. 00783 * @retval None. 00784 * @note The command will be sent by issuing "PerformAction()". 00785 */ 00786 virtual void PrepareGetDirection(void) 00787 { 00788 if (!L6470_DaisyChain_HalfPrepared) 00789 { 00790 /* To avoid deleting the previous entered command. */ 00791 L6470_DaisyChain_HalfPrepared = ONE_F; 00792 /* Resetting commands. */ 00793 L6470_ResetAppCmdPkg(L6470_AppCmdPkg); 00794 } 00795 prepared_action = PREPARED_GET_DIRECTION; 00796 } 00797 00798 /** 00799 * @brief Preparing the command to set a parameter. 00800 * @param parameter A parameter's register address. 00801 * @param value The parameter's value. 00802 * @retval None. 00803 * @note The command will be sent by issuing "PerformAction()". 00804 * The parameter can be one of the following: 00805 * + L6470_ABS_POS_ID 00806 * + L6470_EL_POS_ID 00807 * + L6470_MARK_ID 00808 * + L6470_SPEED_ID 00809 * + L6470_ACC_ID 00810 * + L6470_DEC_ID 00811 * + L6470_MAX_SPEED_ID 00812 * + L6470_MIN_SPEED_ID 00813 * + L6470_FS_SPD_ID 00814 * + L6470_KVAL_HOLD_ID 00815 * + L6470_KVAL_RUN_ID 00816 * + L6470_KVAL_ACC_ID 00817 * + L6470_KVAL_DEC_ID 00818 * + L6470_INT_SPEED_ID 00819 * + L6470_ST_SLP_ID 00820 * + L6470_FN_SLP_ACC_ID 00821 * + L6470_FN_SLP_DEC_ID 00822 * + L6470_K_THERM_ID 00823 * + L6470_ADC_OUT_ID 00824 * + L6470_OCD_TH_ID 00825 * + L6470_STALL_TH_ID 00826 * + L6470_STEP_MODE_ID 00827 * + L6470_ALARM_EN_ID 00828 * + L6470_CONFIG_ID 00829 * + L6470_STATUS_ID 00830 * @warning Some registers can only be written in particular conditions (see L6470's datasheet). 00831 * Any attempt to write one of those registers when the conditions are not satisfied 00832 * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the 00833 * last argument byte. Any attempt to set an inexistent register (wrong address value) 00834 * causes the command to be ignored and the WRONG_CMD flag to rise. 00835 * For example, setting some parameters requires first to disable the power bridge; 00836 * this can be done through the SoftHiZ() method. 00837 * They are the following: 00838 * + L6470_ABS_POS_ID 00839 * + L6470_EL_POS_ID 00840 * + L6470_SPEED_ID 00841 * + L6470_ACC_ID 00842 * + L6470_DEC_ID 00843 * + L6470_MAX_SPEED_ID 00844 * + L6470_MIN_SPEED_ID 00845 * + L6470_INT_SPEED_ID 00846 * + L6470_ST_SLP_ID 00847 * + L6470_FN_SLP_ACC_ID 00848 * + L6470_FN_SLP_DEC_ID 00849 * + L6470_ADC_OUT_ID 00850 * + L6470_STEP_MODE_ID 00851 * + L6470_CONFIG_ID 00852 * + L6470_STATUS_ID 00853 */ 00854 virtual void PrepareSetParameter(unsigned int parameter, unsigned int value) 00855 { 00856 L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value); 00857 prepared_action = PREPARED_NO_ACTION; 00858 } 00859 00860 /** 00861 * @brief Preparing the command to set the current position to be 00862 * the home position. 00863 * @param None. 00864 * @retval None. 00865 * @note The command will be sent by issuing "PerformAction()". 00866 */ 00867 virtual void PrepareSetHome(void) 00868 { 00869 L6470_PrepareResetPos(); 00870 prepared_action = PREPARED_NO_ACTION; 00871 } 00872 00873 /** 00874 * @brief Preparing the command to set the current position to be 00875 * the marked position. 00876 * @param None. 00877 * @retval None. 00878 * @note The command will be sent by issuing "PerformAction()". 00879 */ 00880 virtual void PrepareSetMark(void) 00881 { 00882 /* 00883 Set "0" now as marked position. This value will be replaced by the 00884 actual position read at the time when the prepared actions will be 00885 performed. 00886 */ 00887 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0); 00888 prepared_action = PREPARED_SET_MARK; 00889 } 00890 00891 /** 00892 * @brief Preparing the command to set the given position to be 00893 * the marked position. 00894 * @param position The given position. 00895 * @retval None. 00896 * @note The command will be sent by issuing "PerformAction()". 00897 */ 00898 virtual void PrepareSetMark(signed int position) 00899 { 00900 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position)); 00901 prepared_action = PREPARED_NO_ACTION; 00902 } 00903 00904 /** 00905 * @brief Preparing the command to set the current speed in pps. 00906 * @param speed The current speed in pps. 00907 * @retval None. 00908 * @note The command will be sent by issuing "PerformAction()". 00909 */ 00910 virtual void PrepareSetSpeed(unsigned int speed) 00911 { 00912 L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed)); 00913 prepared_action = PREPARED_NO_ACTION; 00914 } 00915 00916 /** 00917 * @brief Preparing the command to set the maximum speed in pps. 00918 * @param speed The maximum speed in pps. 00919 * @retval None. 00920 * @note The command will be sent by issuing "PerformAction()". 00921 */ 00922 virtual void PrepareSetMaxSpeed(unsigned int speed) 00923 { 00924 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed)); 00925 prepared_action = PREPARED_NO_ACTION; 00926 } 00927 00928 /** 00929 * @brief Preparing the command to set the minimum speed in pps. 00930 * @param speed The minimum speed in pps. 00931 * @retval None. 00932 * @note The command will be sent by issuing "PerformAction()". 00933 */ 00934 virtual void PrepareSetMinSpeed(unsigned int speed) 00935 { 00936 L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed)); 00937 prepared_action = PREPARED_NO_ACTION; 00938 } 00939 00940 /** 00941 * @brief Preparing the command to set the acceleration in pps^2. 00942 * @param acceleration The acceleration in pps^2. 00943 * @retval None. 00944 * @note The command will be sent by issuing "PerformAction()". 00945 */ 00946 virtual void PrepareSetAcceleration(unsigned int acceleration) 00947 { 00948 L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration)); 00949 prepared_action = PREPARED_NO_ACTION; 00950 } 00951 00952 /** 00953 * @brief Preparing the command to set the deceleration in pps^2. 00954 * @param deceleration The deceleration in pps^2. 00955 * @retval None. 00956 * @note The command will be sent by issuing "PerformAction()". 00957 */ 00958 virtual void PrepareSetDeceleration(unsigned int deceleration) 00959 { 00960 L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration)); 00961 prepared_action = PREPARED_NO_ACTION; 00962 } 00963 00964 /** 00965 * @brief Preparing the command to go to a specified position. 00966 * @param position The desired position. 00967 * @retval None. 00968 * @note The command will be sent by issuing "PerformAction()". 00969 */ 00970 virtual void PrepareGoTo(signed int position) 00971 { 00972 L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position)); 00973 prepared_action = PREPARED_NO_ACTION; 00974 } 00975 00976 /** 00977 * @brief Preparing the command to go to a specified position 00978 * imposing the desired direction. 00979 * @param position The desired position. 00980 * @param direction The direction of rotation. 00981 * @retval None. 00982 * @note The command will be sent by issuing "PerformAction()". 00983 */ 00984 virtual void PrepareGoTo(signed int position, direction_t direction) 00985 { 00986 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)); 00987 prepared_action = PREPARED_NO_ACTION; 00988 } 00989 00990 /** 00991 * @brief Preparing the command to go to the home position. 00992 * @param None. 00993 * @retval None. 00994 * @note The command will be sent by issuing "PerformAction()". 00995 */ 00996 virtual void PrepareGoHome(void) 00997 { 00998 L6470_PrepareGoHome(); 00999 prepared_action = PREPARED_NO_ACTION; 01000 } 01001 01002 /** 01003 * @brief Preparing the command to go to the marked position. 01004 * @param None. 01005 * @retval None. 01006 * @note The command will be sent by issuing "PerformAction()". 01007 */ 01008 virtual void PrepareGoMark(void) 01009 { 01010 L6470_PrepareGoMark(); 01011 prepared_action = PREPARED_NO_ACTION; 01012 } 01013 01014 /** 01015 * @brief Preparing the command to run at the given speed imposing the desired 01016 * direction until an external switch turn-on event occurs. 01017 * @param action The identifier of the action about the absolute position. 01018 * @param position The desired position. 01019 * @param speed The speed value in pps. 01020 * @retval None. 01021 * @note The command will be sent by issuing "PerformAction()". 01022 * The identifier of the action about the absolute position can be 01023 * one of the following: 01024 * + L6470_ACT_RST_ID: the absolute position is reset; 01025 * + L6470_ACT_CPY_ID: the absolute position is set as the marked position. 01026 */ 01027 virtual void PrepareGoUntil(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed) 01028 { 01029 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)); 01030 prepared_action = PREPARED_NO_ACTION; 01031 } 01032 01033 /** 01034 * @brief Preparing the command to run towards a specified direction 01035 * at the maximum speed. 01036 * @param direction The direction of rotation. 01037 * @retval None. 01038 * @note The command will be sent by issuing "PerformAction()". 01039 */ 01040 virtual void PrepareRun(direction_t direction) 01041 { 01042 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)); 01043 prepared_action = PREPARED_NO_ACTION; 01044 } 01045 01046 /** 01047 * @brief Preparing the command to run towards a specified direction 01048 * at the given speed. 01049 * @param direction The direction of rotation. 01050 * @param speed The speed value in pps. 01051 * @retval None. 01052 * @note The command will be sent by issuing "PerformAction()". 01053 */ 01054 virtual void PrepareRun(direction_t direction, unsigned int speed) 01055 { 01056 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)); 01057 prepared_action = PREPARED_NO_ACTION; 01058 } 01059 01060 /** 01061 * @brief Preparing the command to move towards a specified direction 01062 * for a certain number of steps. 01063 * @param direction The direction of rotation. 01064 * @param steps The desired number of steps. 01065 * @retval None. 01066 * @note The command will be sent by issuing "PerformAction()". 01067 */ 01068 virtual void PrepareMove(direction_t direction, unsigned int steps) 01069 { 01070 L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps); 01071 prepared_action = PREPARED_NO_ACTION; 01072 } 01073 01074 /** 01075 * @brief Preparing the command to stop the motor. 01076 * @param None. 01077 * @retval None. 01078 * @note The command will be sent by issuing "PerformAction()". 01079 */ 01080 virtual void PrepareSoftStop(void) 01081 { 01082 L6470_PrepareSoftStop(); 01083 prepared_action = PREPARED_NO_ACTION; 01084 } 01085 01086 /** 01087 * @brief Preparing the command to stop the motor and disabling the power bridge. 01088 * @param None. 01089 * @retval None. 01090 * @note The command will be sent by issuing "PerformAction()". 01091 */ 01092 virtual void PrepareHardStop(void) 01093 { 01094 L6470_PrepareHardStop(); 01095 prepared_action = PREPARED_NO_ACTION; 01096 } 01097 01098 /** 01099 * @brief Preparing the command to disable the power bridge after performing 01100 * a deceleration to zero. 01101 * The used deceleration value is the one stored in the "DEC" register. 01102 * @param None. 01103 * @retval None. 01104 * @note The command will be sent by issuing "PerformAction()". 01105 */ 01106 virtual void PrepareSoftHiZ(void) 01107 { 01108 L6470_PrepareSoftHiZ(); 01109 prepared_action = PREPARED_NO_ACTION; 01110 } 01111 01112 /** 01113 * @brief Preparing the command to disable the power bridge immediately. 01114 * @param None. 01115 * @retval None. 01116 * @note The command will be sent by issuing "PerformAction()". 01117 */ 01118 virtual void PrepareHardHiZ(void) 01119 { 01120 L6470_PrepareHardHiZ(); 01121 prepared_action = PREPARED_NO_ACTION; 01122 } 01123 01124 /** 01125 * @brief Preparing the command to switch to step-clock mode. 01126 * @param direction The direction of rotation. 01127 * @retval None. 01128 * @warning Setting the step-clock mode requires an explicit action by the user to first 01129 * disable the power bridge through the SoftHiZ() method. 01130 * @note The command will be sent by issuing "PerformAction()". 01131 */ 01132 virtual void PrepareStepClock(direction_t direction) 01133 { 01134 L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID)); 01135 prepared_action = PREPARED_NO_ACTION; 01136 } 01137 01138 /** 01139 * @brief Preparing the command to do a motion at minimum speed 01140 * imposing a specified direction until the SW is released. 01141 * @param action The identifier of the action about the absolute position. 01142 * @param direction The direction of rotation. 01143 * @retval None. 01144 * @note The command will be sent by issuing "PerformAction()". 01145 * The identifier of the action about the absolute position can be 01146 * one of the following: 01147 * + L6470_ACT_RST_ID: the absolute position is reset; 01148 * + L6470_ACT_CPY_ID: the absolute position is set as the marked position. 01149 */ 01150 virtual void PrepareReleaseSW(eL6470_ActId_t action, direction_t direction) 01151 { 01152 L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID)); 01153 prepared_action = PREPARED_NO_ACTION; 01154 } 01155 01156 /** 01157 * @brief Preparing the command to reset the device to power-up conditions. 01158 * @param None. 01159 * @retval None. 01160 * @note The command will be sent by issuing "PerformAction()". 01161 */ 01162 virtual void PrepareResetDevice(void) 01163 { 01164 L6470_PrepareResetDevice(); 01165 prepared_action = PREPARED_NO_ACTION; 01166 } 01167 01168 /** 01169 * @brief Performing all the actions prepared on the components 01170 * of the daisy-chain. 01171 * @param None. 01172 * @retval The raw data returned by the components. 01173 */ 01174 uint8_t* PerformPreparedActions(void) 01175 { 01176 return L6470_PerformPreparedApplicationCommand(); 01177 } 01178 01179 /** 01180 * @brief Getting the prepared action. 01181 * @param None 01182 * @retval The prepared action. 01183 */ 01184 prepared_action_t GetPreparedAction(void) 01185 { 01186 return prepared_action; 01187 } 01188 01189 /** 01190 * @brief Converting the raw data received by the component according to 01191 * the action performed on it. 01192 * @param raw_data The received raw data. 01193 * @retval The result of the action performed. 01194 */ 01195 int32_t GetResult(uint8_t *raw_data) 01196 { 01197 switch (prepared_action) 01198 { 01199 case PREPARED_GET_POSITION: 01200 return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte)); 01201 01202 case PREPARED_GET_MARK: 01203 return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte)); 01204 01205 case PREPARED_GET_SPEED: 01206 return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte))); 01207 01208 case PREPARED_GET_MAX_SPEED: 01209 return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte))); 01210 01211 case PREPARED_GET_MIN_SPEED: 01212 return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte))); 01213 01214 case PREPARED_GET_ACCELERATION: 01215 return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte))); 01216 01217 case PREPARED_GET_DECELERATION: 01218 return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte))); 01219 01220 case PREPARED_GET_DIRECTION: 01221 return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD); 01222 01223 default: 01224 case PREPARED_NO_ACTION: 01225 return 0; 01226 } 01227 } 01228 01229 01230 /*** Public Interrupt Related Methods ***/ 01231 01232 /* ACTION 6 --------------------------------------------------------------* 01233 * Implement here interrupt related methods, if any. * 01234 * Note that interrupt handling is platform dependent, e.g.: * 01235 * + mbed: * 01236 * InterruptIn feature_irq(pin); //Interrupt object. * 01237 * feature_irq.fall(callback); //Attach a callback. * 01238 * feature_irq.mode(PullNone); //Set interrupt mode. * 01239 * feature_irq.enable_irq(); //Enable interrupt. * 01240 * feature_irq.disable_irq(); //Disable interrupt. * 01241 * + Arduino: * 01242 * attachInterrupt(pin, callback, RISING); //Attach a callback. * 01243 * detachInterrupt(pin); //Detach a callback. * 01244 * * 01245 * Example (mbed): * 01246 * void AttachFeatureIRQ(void (*fptr) (void)) * 01247 * { * 01248 * feature_irq.fall(fptr); * 01249 * } * 01250 * * 01251 * void EnableFeatureIRQ(void) * 01252 * { * 01253 * feature_irq.enable_irq(); * 01254 * } * 01255 * * 01256 * void DisableFeatureIRQ(void) * 01257 * { * 01258 * feature_irq.disable_irq(); * 01259 * } * 01260 *------------------------------------------------------------------------*/ 01261 /** 01262 * @brief Attaching an interrupt handler to the FLAG interrupt. 01263 * @param fptr An interrupt handler. 01264 * @retval None. 01265 */ 01266 void AttachFlagIRQ(void (*fptr)(void)) 01267 { 01268 flag_irq.fall(fptr); 01269 } 01270 01271 /** 01272 * @brief Enabling the FLAG interrupt handling. 01273 * @param None. 01274 * @retval None. 01275 */ 01276 void EnableFlagIRQ(void) 01277 { 01278 flag_irq.enable_irq(); 01279 } 01280 01281 /** 01282 * @brief Disabling the FLAG interrupt handling. 01283 * @param None. 01284 * @retval None. 01285 */ 01286 void DisableFlagIRQ(void) 01287 { 01288 flag_irq.disable_irq(); 01289 } 01290 01291 /** 01292 * @brief Attaching an interrupt handler to the BUSY interrupt. 01293 * @param fptr An interrupt handler. 01294 * @retval None. 01295 */ 01296 void AttachBusyIRQ(void (*fptr)(void)) 01297 { 01298 busy_irq.fall(fptr); 01299 } 01300 01301 /** 01302 * @brief Enabling the BUSY interrupt handling. 01303 * @param None. 01304 * @retval None. 01305 */ 01306 void EnableBusyIRQ(void) 01307 { 01308 busy_irq.enable_irq(); 01309 } 01310 01311 /** 01312 * @brief Disabling the BUSY interrupt handling. 01313 * @param None. 01314 * @retval None. 01315 */ 01316 void DisableBusyIRQ(void) 01317 { 01318 busy_irq.disable_irq(); 01319 } 01320 01321 01322 protected: 01323 01324 /*** Protected Component Related Methods ***/ 01325 01326 /* ACTION 7 --------------------------------------------------------------* 01327 * Declare here the component's specific methods. * 01328 * They should be: * 01329 * + Methods with the same name of the C component's virtual table's * 01330 * functions (1); * 01331 * + Methods with the same name of the C component's extended virtual * 01332 * table's functions, if any (2); * 01333 * + Helper methods, if any, like functions declared in the component's * 01334 * source files but not pointed by the component's virtual table (3). * 01335 * * 01336 * Example: * 01337 * Status_t COMPONENT_GetValue(float *f); //(1) * 01338 * Status_t COMPONENT_EnableFeature(void); //(2) * 01339 * Status_t COMPONENT_ComputeAverage(void); //(3) * 01340 *------------------------------------------------------------------------*/ 01341 int32_t L6470_AbsPos_2_Position(uint32_t AbsPos); 01342 uint32_t L6470_Position_2_AbsPos(int32_t Position); 01343 float L6470_Speed_2_Step_s(uint32_t Speed); 01344 uint32_t L6470_Step_s_2_Speed(float Step_s); 01345 float L6470_Acc_2_Step_s2(uint16_t Acc); 01346 uint16_t L6470_Step_s2_2_Acc(float Step_s2); 01347 float L6470_Dec_2_Step_s2(uint16_t Dec); 01348 uint16_t L6470_Step_s2_2_Dec(float Step_s2); 01349 float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed); 01350 uint16_t L6470_Step_s_2_MaxSpeed(float Step_s); 01351 float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed); 01352 uint16_t L6470_Step_s_2_MinSpeed(float Step_s); 01353 float L6470_FsSpd_2_Step_s(uint16_t FsSpd); 01354 uint16_t L6470_Step_s_2_FsSpd(float Step_s); 01355 float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed); 01356 uint16_t L6470_Step_s_2_IntSpeed(float Step_s); 01357 float L6470_StSlp_2_s_Step(uint8_t StSlp); 01358 uint8_t L6470_s_Step_2_StSlp(float s_Step); 01359 float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc); 01360 uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step); 01361 float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec); 01362 uint8_t L6470_s_Step_2_FnSlpDec(float s_Step); 01363 float L6470_OcdTh_2_mA(uint8_t OcdTh); 01364 uint8_t L6470_mA_2_OcdTh(float mA); 01365 float L6470_StallTh_2_mA(uint8_t StallTh); 01366 uint8_t L6470_mA_2_StallTh(float mA); 01367 Status_t L6470_Config(void *init); 01368 void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value); 01369 uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId); 01370 void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed); 01371 void L6470_StepClock(eL6470_DirId_t L6470_DirId); 01372 void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step); 01373 void L6470_GoTo(uint32_t AbsPos); 01374 void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos); 01375 void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed); 01376 void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId); 01377 void L6470_GoHome(void); 01378 void L6470_GoMark(void); 01379 void L6470_ResetPos(void); 01380 void L6470_ResetDevice(void); 01381 void L6470_SoftStop(void); 01382 void L6470_HardStop(void); 01383 void L6470_SoftHiZ(void); 01384 void L6470_HardHiZ(void); 01385 uint16_t L6470_GetStatus(void); 01386 void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value); 01387 void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId); 01388 void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed); 01389 void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId); 01390 void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step); 01391 void L6470_PrepareGoTo(uint32_t AbsPos); 01392 void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos); 01393 void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed); 01394 void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId); 01395 void L6470_PrepareGoHome(void); 01396 void L6470_PrepareGoMark(void); 01397 void L6470_PrepareResetPos(void); 01398 void L6470_PrepareResetDevice(void); 01399 void L6470_PrepareSoftStop(void); 01400 void L6470_PrepareHardStop(void); 01401 void L6470_PrepareSoftHiZ(void); 01402 void L6470_PrepareHardHiZ(void); 01403 void L6470_PrepareGetStatus(void); 01404 uint8_t* L6470_PerformPreparedApplicationCommand(void); 01405 void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct); 01406 uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte); 01407 uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId); 01408 uint8_t* L6470_GetRegisterName(uint8_t id); 01409 void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg); 01410 void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3); 01411 void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3); 01412 void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct); 01413 01414 /** 01415 * @brief Rounding a floating point number to the nearest unsigned integer number. 01416 * @param f The floating point number. 01417 * @retval The nearest unsigned integer number. 01418 */ 01419 int round(float f) 01420 { 01421 if (f >= 0) 01422 return (int) f + (f - (int) f < 0.5f ? 0 : 1); 01423 else 01424 return (int) f - (f - (int) f < -0.5f ? 1 : 0); 01425 } 01426 01427 01428 /*** Component's I/O Methods ***/ 01429 01430 /** 01431 * @brief Utility function to read data from L6470. 01432 * @param[out] pBuffer pointer to the buffer to read data into. 01433 * @param[in] NumBytesToRead number of bytes to read. 01434 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 01435 */ 01436 Status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead) 01437 { 01438 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) 01439 return COMPONENT_ERROR; 01440 return COMPONENT_OK; 01441 } 01442 01443 /** 01444 * @brief Utility function to write data to L6470. 01445 * @param[in] pBuffer pointer to the buffer of data to send. 01446 * @param[in] NumBytesToWrite number of bytes to write. 01447 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 01448 */ 01449 Status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite) 01450 { 01451 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) 01452 return COMPONENT_ERROR; 01453 return COMPONENT_OK; 01454 } 01455 01456 /** 01457 * @brief Utility function to read and write data from/to L6470 at the same time. 01458 * @param[out] pBufferToRead pointer to the buffer to read data into. 01459 * @param[in] pBufferToWrite pointer to the buffer of data to send. 01460 * @param[in] NumBytes number of bytes to read and write. 01461 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise. 01462 */ 01463 Status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes) 01464 { 01465 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) 01466 return COMPONENT_ERROR; 01467 return COMPONENT_OK; 01468 } 01469 01470 /* ACTION 8 --------------------------------------------------------------* 01471 * Implement here other I/O methods beyond those already implemented * 01472 * above, which are declared extern within the component's header file. * 01473 *------------------------------------------------------------------------*/ 01474 /* 01475 * Puts the device in standby mode. 01476 */ 01477 void L6470_ENABLE(void) 01478 { 01479 standby_reset = 1; 01480 } 01481 01482 /* 01483 * Puts the device in reset mode. 01484 */ 01485 void L6470_DISABLE(void) 01486 { 01487 standby_reset = 0; 01488 } 01489 01490 /* 01491 * Write and read bytes to/from the component through the SPI at the same time. 01492 */ 01493 void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout) 01494 { 01495 ReadWrite(pRxData, pTxData, Size); 01496 } 01497 01498 01499 /*** Component's Instance Variables ***/ 01500 01501 /* ACTION 9 --------------------------------------------------------------* 01502 * Declare here interrupt related variables, if needed. * 01503 * Note that interrupt handling is platform dependent, see * 01504 * "Interrupt Related Methods" above. * 01505 * * 01506 * Example: * 01507 * + mbed: * 01508 * InterruptIn feature_irq; * 01509 *------------------------------------------------------------------------*/ 01510 /* Flag Interrupt. */ 01511 InterruptIn flag_irq; 01512 01513 /* Busy Interrupt. */ 01514 InterruptIn busy_irq; 01515 01516 /* ACTION 10 -------------------------------------------------------------* 01517 * Declare here other pin related variables, if needed. * 01518 * * 01519 * Example: * 01520 * + mbed: * 01521 * DigitalOut standby_reset; * 01522 *------------------------------------------------------------------------*/ 01523 /* Standby/reset pin. */ 01524 DigitalOut standby_reset; 01525 01526 /* ACTION 11 -------------------------------------------------------------* 01527 * Declare here communication related variables, if needed. * 01528 * * 01529 * Example: * 01530 * + mbed: * 01531 * DigitalOut ssel; * 01532 * DevSPI &dev_spi; * 01533 *------------------------------------------------------------------------*/ 01534 /* Configuration. */ 01535 DigitalOut ssel; 01536 01537 /* IO Device. */ 01538 DevSPI &dev_spi; 01539 01540 /* ACTION 12 -------------------------------------------------------------* 01541 * Declare here identity related variables, if needed. * 01542 * Note that there should be only a unique identifier for each component, * 01543 * which should be the "who_am_i" parameter. * 01544 *------------------------------------------------------------------------*/ 01545 /* Identity */ 01546 uint8_t who_am_i; 01547 01548 /* ACTION 13 -------------------------------------------------------------* 01549 * Declare here the component's static and non-static data, one variable * 01550 * per line. * 01551 * * 01552 * Example: * 01553 * float measure; * 01554 * int instance_id; * 01555 * static int number_of_instances; * 01556 *------------------------------------------------------------------------*/ 01557 /* Data. */ 01558 uint8_t L6470_Id; 01559 const sL6470_Register_t *L6470_Register; 01560 const sL6470_ApplicationCommand_t *L6470_ApplicationCommand; 01561 const sL6470_Direction_t *L6470_Direction; 01562 const sL6470_ACT_t *L6470_ACT; 01563 sL6470_StatusRegister_t L6470_StatusRegister; 01564 sL6470_StatusRegister_t *pL6470_StatusRegister; 01565 StepperMotorRegister_t StepperMotorRegister; 01566 prepared_action_t prepared_action; 01567 01568 /* Static data. */ 01569 static uint8_t number_of_devices; 01570 static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE]; 01571 static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE]; 01572 static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE]; 01573 static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE]; 01574 static eFlagStatus_t L6470_DaisyChain_HalfPrepared; 01575 static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; 01576 static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; 01577 static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; 01578 }; 01579 01580 #endif /* __L6470_CLASS_H */ 01581 01582 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
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