JHE YU CHEN / X_NUCLEO_IHM02A1

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Fork of X_NUCLEO_IHM02A1 by ST

Components/l6470/l6470_class.cpp@17:4b3dc908724f, 2016-04-07 (annotated)

Committer:
Davidroid
Date:
Thu Apr 07 16:55:51 2016 +0000
Revision:
17:4b3dc908724f
Parent:
16:0d5be428b264 
+ StepperMotor interface updated: step-modes added, getter/setter methods for parameters removed.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 14:e614697ebf34 2 ******************************************************************************
Davidroid 14:e614697ebf34 3 * @file l6470_class.cpp
Davidroid 14:e614697ebf34 4 * @date 01/10/2014 12:00:00
Davidroid 14:e614697ebf34 5 * @brief This file provides set of firmware functions to manage the
Davidroid 14:e614697ebf34 6 * L6470.
Davidroid 14:e614697ebf34 7 ******************************************************************************
Davidroid 14:e614697ebf34 8 *
Davidroid 14:e614697ebf34 9 * COPYRIGHT(c) 2014 STMicroelectronics
Davidroid 14:e614697ebf34 10 *
Davidroid 14:e614697ebf34 11 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 14:e614697ebf34 12 * are permitted provided that the following conditions are met:
Davidroid 14:e614697ebf34 13 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 14:e614697ebf34 14 * this list of conditions and the following disclaimer.
Davidroid 14:e614697ebf34 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 14:e614697ebf34 16 * this list of conditions and the following disclaimer in the documentation
Davidroid 14:e614697ebf34 17 * and/or other materials provided with the distribution.
Davidroid 14:e614697ebf34 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 14:e614697ebf34 19 * may be used to endorse or promote products derived from this software
Davidroid 14:e614697ebf34 20 * without specific prior written permission.
Davidroid 14:e614697ebf34 21 *
Davidroid 14:e614697ebf34 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 14:e614697ebf34 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 14:e614697ebf34 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 14:e614697ebf34 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 14:e614697ebf34 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 14:e614697ebf34 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 14:e614697ebf34 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 14:e614697ebf34 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 14:e614697ebf34 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 14:e614697ebf34 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 14:e614697ebf34 32 *
Davidroid 14:e614697ebf34 33 ******************************************************************************
Davidroid 14:e614697ebf34 34 */
Davidroid 0:92706998571a 35
Davidroid 0:92706998571a 36
Davidroid 15:31785d1acd4b 37 /* Generated with STM32CubeTOO -----------------------------------------------*/
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39
Davidroid 0:92706998571a 40 /* Revision ------------------------------------------------------------------*/
Davidroid 0:92706998571a 41 /*
Davidroid 0:92706998571a 42 Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
Davidroid 0:92706998571a 43 Branch/Trunk/Tag: trunk
Davidroid 0:92706998571a 44 Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
Davidroid 6:c62aa608a493 45 Revision: 0
Davidroid 0:92706998571a 46 */
Davidroid 0:92706998571a 47
Davidroid 0:92706998571a 48
Davidroid 0:92706998571a 49 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 50
Davidroid 0:92706998571a 51 #include "l6470_class.h"
Davidroid 0:92706998571a 52
Davidroid 0:92706998571a 53
Davidroid 14:e614697ebf34 54 /* Variables -----------------------------------------------------------------*/
Davidroid 0:92706998571a 55
Davidroid 0:92706998571a 56 /* Number of instantiated devices on an expansion board. */
Davidroid 0:92706998571a 57 uint8_t L6470::number_of_devices = 0;
Davidroid 0:92706998571a 58
Davidroid 0:92706998571a 59 /* SPI Transmission for Daisy-Chain Configuration. */
Davidroid 0:92706998571a 60 eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
Davidroid 0:92706998571a 61 sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 62 uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 63 uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 64
Davidroid 0:92706998571a 65 /**
Davidroid 0:92706998571a 66 * @brief Array whose elements are a structure in which store information about
Davidroid 0:92706998571a 67 * the L6470 Registers (the address, the names, the length in bits, the
Davidroid 0:92706998571a 68 * reset value)
Davidroid 0:92706998571a 69 */
Davidroid 0:92706998571a 70 const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
Davidroid 0:92706998571a 71 {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position
Davidroid 0:92706998571a 72 {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position
Davidroid 0:92706998571a 73 {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position
Davidroid 0:92706998571a 74 {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed
Davidroid 0:92706998571a 75 {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration
Davidroid 0:92706998571a 76 {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration
Davidroid 0:92706998571a 77 {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed
Davidroid 0:92706998571a 78 {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed
Davidroid 0:92706998571a 79 {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed
Davidroid 0:92706998571a 80 {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL
Davidroid 0:92706998571a 81 {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL
Davidroid 0:92706998571a 82 {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL
Davidroid 0:92706998571a 83 {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL
Davidroid 0:92706998571a 84 {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed
Davidroid 0:92706998571a 85 {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope
Davidroid 0:92706998571a 86 {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope
Davidroid 0:92706998571a 87 {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope
Davidroid 0:92706998571a 88 {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor
Davidroid 0:92706998571a 89 {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 90 {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold
Davidroid 0:92706998571a 91 {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold
Davidroid 0:92706998571a 92 {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode
Davidroid 0:92706998571a 93 {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable
Davidroid 0:92706998571a 94 {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration
Davidroid 0:92706998571a 95 {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 96 };
Davidroid 0:92706998571a 97
Davidroid 0:92706998571a 98 /**
Davidroid 0:92706998571a 99 * @brief Array whose elements are a structure in which store information about
Davidroid 0:92706998571a 100 * the L6470 Application Commands (the mnemonic name, the number of
Davidroid 0:92706998571a 101 * needed parameters, the related funtion to call)
Davidroid 0:92706998571a 102 */
Davidroid 0:92706998571a 103 const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = {
Davidroid 0:92706998571a 104 {"NOP", 0x00, 0},
Davidroid 0:92706998571a 105 {"SETPARAM", 0x00, 2},
Davidroid 0:92706998571a 106 {"GETPARAM", 0x20, 1},
Davidroid 0:92706998571a 107 {"RUN", 0x50, 2},
Davidroid 0:92706998571a 108 {"STEPCLOCK", 0x58, 1},
Davidroid 0:92706998571a 109 {"MOVE", 0x40, 2},
Davidroid 0:92706998571a 110 {"GOTO", 0x60, 1},
Davidroid 0:92706998571a 111 {"GOTO_DIR", 0x68, 2},
Davidroid 0:92706998571a 112 {"GOUNTIL", 0x82, 3},
Davidroid 0:92706998571a 113 {"RELEASESW", 0x92, 2},
Davidroid 0:92706998571a 114 {"GOHOME", 0x70, 0},
Davidroid 0:92706998571a 115 {"GOMARK", 0x78, 0},
Davidroid 0:92706998571a 116 {"RESETPOS", 0xD8, 0},
Davidroid 0:92706998571a 117 {"RESETDEVICE", 0xC0, 0},
Davidroid 0:92706998571a 118 {"SOFTSTOP", 0xB0, 0},
Davidroid 0:92706998571a 119 {"HARDSTOP", 0xB8, 0},
Davidroid 0:92706998571a 120 {"SOFTHIZ", 0xA0, 0},
Davidroid 0:92706998571a 121 {"HARDHIZ", 0xA8, 0},
Davidroid 0:92706998571a 122 {"GETSTATUS", 0xD0, 0}
Davidroid 0:92706998571a 123 };
Davidroid 0:92706998571a 124
Davidroid 0:92706998571a 125 /**
Davidroid 0:92706998571a 126 * @brief The mnemonic names for the L6470 direction
Davidroid 0:92706998571a 127 */
Davidroid 0:92706998571a 128 const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
Davidroid 0:92706998571a 129 {"REV", 0x00}, //!< Reverse direction
Davidroid 0:92706998571a 130 {"FWD", 0x01} //!< Forward direction
Davidroid 0:92706998571a 131 };
Davidroid 0:92706998571a 132
Davidroid 0:92706998571a 133 /**
Davidroid 0:92706998571a 134 * @brief Action taken about ABS_POS register
Davidroid 0:92706998571a 135 */
Davidroid 0:92706998571a 136 const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
Davidroid 0:92706998571a 137 {"RST", 0x00}, //!< ABS_POS register is reset
Davidroid 0:92706998571a 138 {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register
Davidroid 0:92706998571a 139 };
Davidroid 0:92706998571a 140
Davidroid 0:92706998571a 141 /* End of L6470_Private_Constants */
Davidroid 0:92706998571a 142
Davidroid 0:92706998571a 143 /**
Davidroid 0:92706998571a 144 * @defgroup L6470_Private_Variables
Davidroid 0:92706998571a 145 * @brief L6470 Private Variables.
Davidroid 0:92706998571a 146 * @{
Davidroid 0:92706998571a 147 */
Davidroid 0:92706998571a 148
Davidroid 0:92706998571a 149 /* End of L6470_Private_Variables */
Davidroid 0:92706998571a 150
Davidroid 0:92706998571a 151
Davidroid 0:92706998571a 152 /**
Davidroid 0:92706998571a 153 * @addtogroup L6470_Private_Functions
Davidroid 0:92706998571a 154 * @{
Davidroid 0:92706998571a 155 */
Davidroid 0:92706998571a 156
Davidroid 14:e614697ebf34 157
Davidroid 14:e614697ebf34 158 /* Methods -------------------------------------------------------------------*/
Davidroid 14:e614697ebf34 159
Davidroid 0:92706998571a 160 /**
Davidroid 0:92706998571a 161 * @brief Reset the structure used to store the identifier of the L6470
Davidroid 0:92706998571a 162 * application command and its the needed parameters.
Davidroid 0:92706998571a 163 * @param pL6470_AppCmdPkg The structure to be reset.
Davidroid 0:92706998571a 164 */
Davidroid 0:92706998571a 165 void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
Davidroid 0:92706998571a 166 {
Davidroid 0:92706998571a 167 uint8_t id;
Davidroid 0:92706998571a 168
Davidroid 0:92706998571a 169 for(id=0; id<L6470DAISYCHAINSIZE; id++)
Davidroid 0:92706998571a 170 {
Davidroid 0:92706998571a 171 (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
Davidroid 0:92706998571a 172 (pL6470_AppCmdPkg+id)->p1=0;
Davidroid 0:92706998571a 173 (pL6470_AppCmdPkg+id)->p2=0;
Davidroid 0:92706998571a 174 (pL6470_AppCmdPkg+id)->p3=0;
Davidroid 0:92706998571a 175 }
Davidroid 0:92706998571a 176 }
Davidroid 0:92706998571a 177
Davidroid 0:92706998571a 178 /**
Davidroid 0:92706998571a 179 * @brief Fill the structure used to store the identifier of the L6470
Davidroid 0:92706998571a 180 * application command and its the needed parameters.
Davidroid 0:92706998571a 181 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 182 * @param pL6470_AppCmdPkg The structure to be filled.
Davidroid 0:92706998571a 183 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
Davidroid 0:92706998571a 184 * @param p1 The 1st parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 185 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 186 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 187 */
Davidroid 0:92706998571a 188 void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
Davidroid 0:92706998571a 189 {
Davidroid 0:92706998571a 190 (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
Davidroid 0:92706998571a 191 (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
Davidroid 0:92706998571a 192 (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
Davidroid 0:92706998571a 193 (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
Davidroid 0:92706998571a 194 }
Davidroid 0:92706998571a 195
Davidroid 0:92706998571a 196 /**
Davidroid 0:92706998571a 197 * @brief This function will fill the column of the L6470_AppCmdPkg related
Davidroid 0:92706998571a 198 * the L6470 to be addressed inside the daisy chain.
Davidroid 0:92706998571a 199 *
Davidroid 0:92706998571a 200 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 201 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
Davidroid 0:92706998571a 202 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
Davidroid 0:92706998571a 203 * @param p1 The 1st parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 204 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 205 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 206 */
Davidroid 0:92706998571a 207 void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
Davidroid 0:92706998571a 208 {
Davidroid 0:92706998571a 209 if(!L6470_DaisyChain_HalfPrepared)
Davidroid 0:92706998571a 210 {
Davidroid 0:92706998571a 211 L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
Davidroid 0:92706998571a 212 L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
Davidroid 0:92706998571a 213 }
Davidroid 0:92706998571a 214
Davidroid 0:92706998571a 215 L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
Davidroid 0:92706998571a 216 }
Davidroid 0:92706998571a 217
Davidroid 0:92706998571a 218 /**
Davidroid 0:92706998571a 219 * @brief This function will translate the data inside the L6470_AppCmdPkg into
Davidroid 0:92706998571a 220 * the right data to be sent via SPI to the L6470 daisy chain.
Davidroid 0:92706998571a 221 *
Davidroid 0:92706998571a 222 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
Davidroid 0:92706998571a 223 * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands.
Davidroid 0:92706998571a 224 */
Davidroid 0:92706998571a 225 void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
Davidroid 0:92706998571a 226 {
Davidroid 0:92706998571a 227 uint8_t PkgId;
Davidroid 0:92706998571a 228 uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
Davidroid 0:92706998571a 229 uint8_t spibyte;
Davidroid 0:92706998571a 230
Davidroid 0:92706998571a 231 /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
Davidroid 0:92706998571a 232 uint8_t i = 0;
Davidroid 0:92706998571a 233 for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
Davidroid 0:92706998571a 234 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
Davidroid 0:92706998571a 235 *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
Davidroid 0:92706998571a 236
Davidroid 0:92706998571a 237 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
Davidroid 0:92706998571a 238 {
Davidroid 0:92706998571a 239 /* Build the 1st bytes to transmit with the binary code of the command */
Davidroid 0:92706998571a 240 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
Davidroid 0:92706998571a 241
Davidroid 0:92706998571a 242 /* Perform the related L6470_AppCmdId */
Davidroid 0:92706998571a 243 switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
Davidroid 0:92706998571a 244 {
Davidroid 0:92706998571a 245 case L6470_NOP_ID:
Davidroid 0:92706998571a 246 break;
Davidroid 0:92706998571a 247 case L6470_SETPARAM_ID:
Davidroid 0:92706998571a 248 /* Build the 1st bytes to transmit (PARAM) */
Davidroid 0:92706998571a 249 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
Davidroid 0:92706998571a 250
Davidroid 0:92706998571a 251 /* The length, in byte, of this register (PARAM) is... */
Davidroid 0:92706998571a 252 PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
Davidroid 0:92706998571a 253
Davidroid 0:92706998571a 254 /* Build the others bytes to transmit (VALUE) */
Davidroid 0:92706998571a 255 for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
Davidroid 0:92706998571a 256 {
Davidroid 0:92706998571a 257 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
Davidroid 0:92706998571a 258 }
Davidroid 0:92706998571a 259 break;
Davidroid 0:92706998571a 260 case L6470_GETPARAM_ID:
Davidroid 0:92706998571a 261 /* Build the 1st bytes to transmit (PARAM) */
Davidroid 0:92706998571a 262 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
Davidroid 0:92706998571a 263 break;
Davidroid 0:92706998571a 264 case L6470_RUN_ID:
Davidroid 0:92706998571a 265 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 266 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 267
Davidroid 0:92706998571a 268 /* Build the others bytes to transmit (SPD) */
Davidroid 0:92706998571a 269 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 270 {
Davidroid 0:92706998571a 271 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 272 }
Davidroid 0:92706998571a 273 break;
Davidroid 0:92706998571a 274 case L6470_STEPCLOCK_ID:
Davidroid 0:92706998571a 275 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 276 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 277 break;
Davidroid 0:92706998571a 278 case L6470_MOVE_ID:
Davidroid 0:92706998571a 279 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 280 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 281
Davidroid 0:92706998571a 282 /* Build the others bytes to transmit (N_STEP) */
Davidroid 0:92706998571a 283 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 284 {
Davidroid 0:92706998571a 285 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 286 }
Davidroid 0:92706998571a 287 break;
Davidroid 0:92706998571a 288 case L6470_GOTO_ID:
Davidroid 0:92706998571a 289 /* Build the others bytes to transmit (ABS_POS) */
Davidroid 0:92706998571a 290 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 291 {
Davidroid 0:92706998571a 292 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 293 }
Davidroid 0:92706998571a 294 break;
Davidroid 0:92706998571a 295 case L6470_GOTODIR_ID:
Davidroid 0:92706998571a 296 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 297 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 298
Davidroid 0:92706998571a 299 /* Build the others bytes to transmit (ABS_POS) */
Davidroid 0:92706998571a 300 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 301 {
Davidroid 0:92706998571a 302 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 303 }
Davidroid 0:92706998571a 304 break;
Davidroid 0:92706998571a 305 case L6470_GOUNTIL_ID:
Davidroid 0:92706998571a 306 /* Build the 1st bytes to transmit (ACT) */
Davidroid 0:92706998571a 307 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
Davidroid 0:92706998571a 308 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 309 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
Davidroid 0:92706998571a 310
Davidroid 0:92706998571a 311 /* Build the others bytes to transmit (SPD) */
Davidroid 0:92706998571a 312 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 313 {
Davidroid 0:92706998571a 314 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 315 }
Davidroid 0:92706998571a 316 break;
Davidroid 0:92706998571a 317 case L6470_RELEASESW_ID:
Davidroid 0:92706998571a 318 /* Build the 1st bytes to transmit (ACT) */
Davidroid 0:92706998571a 319 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
Davidroid 0:92706998571a 320 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 321 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
Davidroid 0:92706998571a 322 break;
Davidroid 0:92706998571a 323 case L6470_GOHOME_ID:
Davidroid 0:92706998571a 324 break;
Davidroid 0:92706998571a 325 case L6470_GOMARK_ID:
Davidroid 0:92706998571a 326 break;
Davidroid 0:92706998571a 327 case L6470_RESETPOS_ID:
Davidroid 0:92706998571a 328 break;
Davidroid 0:92706998571a 329 case L6470_RESETDEVICE_ID:
Davidroid 0:92706998571a 330 break;
Davidroid 0:92706998571a 331 case L6470_SOFTSTOP_ID:
Davidroid 0:92706998571a 332 break;
Davidroid 0:92706998571a 333 case L6470_HARDSTOP_ID:
Davidroid 0:92706998571a 334 break;
Davidroid 0:92706998571a 335 case L6470_SOFTHIZ_ID:
Davidroid 0:92706998571a 336 break;
Davidroid 0:92706998571a 337 case L6470_HARDHIZ_ID:
Davidroid 0:92706998571a 338 break;
Davidroid 0:92706998571a 339 case L6470_GETSTATUS_ID:
Davidroid 0:92706998571a 340 break;
Davidroid 0:92706998571a 341 }
Davidroid 0:92706998571a 342 }
Davidroid 0:92706998571a 343 }
Davidroid 0:92706998571a 344
Davidroid 0:92706998571a 345 /* End of L6470_Private_Functions */
Davidroid 0:92706998571a 346
Davidroid 0:92706998571a 347 /**
Davidroid 0:92706998571a 348 * @addtogroup L6470_Exported_Functions
Davidroid 0:92706998571a 349 * @{
Davidroid 0:92706998571a 350 */
Davidroid 0:92706998571a 351
Davidroid 0:92706998571a 352 /**
Davidroid 0:92706998571a 353 * @addtogroup L6470_Conversion_Functions
Davidroid 0:92706998571a 354 * @brief The following functions act just on one driver inside the L6470
Davidroid 0:92706998571a 355 * daisy chain. The command is immediately sent.
Davidroid 0:92706998571a 356 * @{
Davidroid 0:92706998571a 357 */
Davidroid 0:92706998571a 358
Davidroid 0:92706998571a 359 /**
Davidroid 0:92706998571a 360 * @brief Convert the absolute position as 2's complement format into the signed number.
Davidroid 0:92706998571a 361 *
Davidroid 0:92706998571a 362 * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
Davidroid 0:92706998571a 363 * @retval Position The position as signed number.
Davidroid 0:92706998571a 364 */
Davidroid 0:92706998571a 365 int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
Davidroid 0:92706998571a 366 {
Davidroid 0:92706998571a 367 if (AbsPos > L6470_MAX_POSITION)
Davidroid 0:92706998571a 368 return (AbsPos - (L6470_POSITION_RANGE + 1));
Davidroid 0:92706998571a 369 else
Davidroid 0:92706998571a 370 return AbsPos;
Davidroid 0:92706998571a 371 }
Davidroid 0:92706998571a 372
Davidroid 0:92706998571a 373 /**
Davidroid 0:92706998571a 374 * @brief Convert the position as signed number into absolute position as 2's complement format.
Davidroid 0:92706998571a 375 *
Davidroid 0:92706998571a 376 * @param Position The position as signed number.
Davidroid 0:92706998571a 377 * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
Davidroid 0:92706998571a 378 */
Davidroid 0:92706998571a 379 uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
Davidroid 0:92706998571a 380 {
Davidroid 0:92706998571a 381 if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
Davidroid 0:92706998571a 382 return Position;
Davidroid 0:92706998571a 383 else
Davidroid 0:92706998571a 384 {
Davidroid 0:92706998571a 385 if ((Position >= L6470_MIN_POSITION) && (Position < 0))
Davidroid 0:92706998571a 386 return (Position + (L6470_POSITION_RANGE + 1));
Davidroid 0:92706998571a 387 else
Davidroid 0:92706998571a 388 return (L6470_POSITION_RANGE + 1); // OVF
Davidroid 0:92706998571a 389 }
Davidroid 0:92706998571a 390 }
Davidroid 0:92706998571a 391
Davidroid 0:92706998571a 392 /**
Davidroid 0:92706998571a 393 * @brief Convert the SPEED register value into step/s.
Davidroid 0:92706998571a 394 *
Davidroid 0:92706998571a 395 * @param Speed The SPEED register value.
Davidroid 0:92706998571a 396 * @retval step/s The speed as step/s.
Davidroid 0:92706998571a 397 */
Davidroid 0:92706998571a 398 float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
Davidroid 0:92706998571a 399 {
Davidroid 0:92706998571a 400 return (Speed * ((float)14.9012e-3));
Davidroid 0:92706998571a 401 }
Davidroid 0:92706998571a 402
Davidroid 0:92706998571a 403 /**
Davidroid 0:92706998571a 404 * @brief Convert the speed as step/s into a right value for SPEED register.
Davidroid 0:92706998571a 405 *
Davidroid 0:92706998571a 406 * @param step/s The speed as step/s.
Davidroid 0:92706998571a 407 * @retval Speed The SPEED register value.
Davidroid 0:92706998571a 408 */
Davidroid 0:92706998571a 409 uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
Davidroid 0:92706998571a 410 {
Davidroid 0:92706998571a 411 if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
Davidroid 0:92706998571a 412 return (uint32_t)(Step_s / ((float)14.9012e-3));
Davidroid 0:92706998571a 413 else
Davidroid 0:92706998571a 414 return 0; // Warning
Davidroid 0:92706998571a 415 }
Davidroid 0:92706998571a 416
Davidroid 0:92706998571a 417 /**
Davidroid 0:92706998571a 418 * @brief Convert the ACC register value into step/(s^2).
Davidroid 0:92706998571a 419 *
Davidroid 0:92706998571a 420 * @param Acc The ACC register value.
Davidroid 0:92706998571a 421 * @retval step/(s^2) The acceleration as step/(s^2).
Davidroid 0:92706998571a 422 */
Davidroid 0:92706998571a 423 float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
Davidroid 0:92706998571a 424 {
Davidroid 0:92706998571a 425 if (Acc <= L6470_MAX_ACC)
Davidroid 0:92706998571a 426 return (Acc * ((float)1.4552e1));
Davidroid 0:92706998571a 427 else
Davidroid 0:92706998571a 428 return 0; // Warning
Davidroid 0:92706998571a 429 }
Davidroid 0:92706998571a 430
Davidroid 0:92706998571a 431 /**
Davidroid 0:92706998571a 432 * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register.
Davidroid 0:92706998571a 433 *
Davidroid 0:92706998571a 434 * @param step/(s^2) The acceleration as step/(s^2).
Davidroid 0:92706998571a 435 * @retval Acc The ACC register value.
Davidroid 0:92706998571a 436 */
Davidroid 0:92706998571a 437 uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
Davidroid 0:92706998571a 438 {
Davidroid 0:92706998571a 439 if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
Davidroid 0:92706998571a 440 return (uint16_t)(Step_s2 / ((float)1.4552e1));
Davidroid 0:92706998571a 441 else
Davidroid 0:92706998571a 442 return 0; // Warning
Davidroid 0:92706998571a 443 }
Davidroid 0:92706998571a 444
Davidroid 0:92706998571a 445 /**
Davidroid 0:92706998571a 446 * @brief Convert the DEC register value into step/(s^2).
Davidroid 0:92706998571a 447 *
Davidroid 0:92706998571a 448 * @param Dec The DEC register value.
Davidroid 0:92706998571a 449 * @retval step/(s^2) The deceleration as step/(s^2).
Davidroid 0:92706998571a 450 */
Davidroid 0:92706998571a 451 float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
Davidroid 0:92706998571a 452 {
Davidroid 0:92706998571a 453 if (Dec <= L6470_MAX_DEC)
Davidroid 0:92706998571a 454 return (Dec * ((float)1.4552e1));
Davidroid 0:92706998571a 455 else
Davidroid 0:92706998571a 456 return 0; // Warning
Davidroid 0:92706998571a 457 }
Davidroid 0:92706998571a 458
Davidroid 0:92706998571a 459 /**
Davidroid 0:92706998571a 460 * @brief Convert the deceleration as step/(s^2) into a right value for DEC register.
Davidroid 0:92706998571a 461 *
Davidroid 0:92706998571a 462 * @param step/(s^2) The deceleration as step/(s^2).
Davidroid 0:92706998571a 463 * @retval Dec The DEC register value.
Davidroid 0:92706998571a 464 */
Davidroid 0:92706998571a 465 uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
Davidroid 0:92706998571a 466 {
Davidroid 0:92706998571a 467 if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
Davidroid 0:92706998571a 468 return (uint16_t)(Step_s2 / ((float)1.4552e1));
Davidroid 0:92706998571a 469 else
Davidroid 0:92706998571a 470 return 0; // Warning
Davidroid 0:92706998571a 471 }
Davidroid 0:92706998571a 472
Davidroid 0:92706998571a 473 /**
Davidroid 0:92706998571a 474 * @brief Convert the MAX_SPEED register value into step/s.
Davidroid 0:92706998571a 475 *
Davidroid 0:92706998571a 476 * @param MaxSpeed The MAX_SPEED register value.
Davidroid 0:92706998571a 477 * @retval step/s The max speed as step/s.
Davidroid 0:92706998571a 478 */
Davidroid 0:92706998571a 479 float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
Davidroid 0:92706998571a 480 {
Davidroid 0:92706998571a 481 if (MaxSpeed <= L6470_MAX_MAX_SPEED)
Davidroid 0:92706998571a 482 return (MaxSpeed * ((float)15.2588));
Davidroid 0:92706998571a 483 else
Davidroid 0:92706998571a 484 return 0; // Warning
Davidroid 0:92706998571a 485 }
Davidroid 0:92706998571a 486
Davidroid 0:92706998571a 487 /**
Davidroid 0:92706998571a 488 * @brief Convert the max speed as step/s into a right value for MAX_SPEED register.
Davidroid 0:92706998571a 489 *
Davidroid 0:92706998571a 490 * @param step/s The max speed as step/s.
Davidroid 0:92706998571a 491 * @retval MaxSpeed The MAX_SPEED register value.
Davidroid 0:92706998571a 492 */
Davidroid 0:92706998571a 493 uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
Davidroid 0:92706998571a 494 {
Davidroid 0:92706998571a 495 if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
Davidroid 0:92706998571a 496 return (uint16_t)(Step_s / ((float)15.2588));
Davidroid 0:92706998571a 497 else
Davidroid 0:92706998571a 498 return 0; // Warning
Davidroid 0:92706998571a 499 }
Davidroid 0:92706998571a 500
Davidroid 0:92706998571a 501 /**
Davidroid 0:92706998571a 502 * @brief Convert the MIN_SPEED register value into step/s.
Davidroid 0:92706998571a 503 *
Davidroid 0:92706998571a 504 * @param MinSpeed The MIN_SPEED register value.
Davidroid 0:92706998571a 505 * @retval step/s The min speed as step/s.
Davidroid 0:92706998571a 506 */
Davidroid 0:92706998571a 507 float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
Davidroid 0:92706998571a 508 {
Davidroid 0:92706998571a 509 if (MinSpeed <= L6470_MAX_MIN_SPEED)
Davidroid 0:92706998571a 510 return (MinSpeed * ((float)238.4186e-3));
Davidroid 0:92706998571a 511 else
Davidroid 0:92706998571a 512 return 0; // Warning
Davidroid 0:92706998571a 513 }
Davidroid 0:92706998571a 514
Davidroid 0:92706998571a 515 /**
Davidroid 0:92706998571a 516 * @brief Convert the min speed as step/s into a right value for MIN_SPEED register.
Davidroid 0:92706998571a 517 *
Davidroid 0:92706998571a 518 * @param step/s The min speed as step/s.
Davidroid 0:92706998571a 519 * @retval MinSpeed The MIN_SPEED register value.
Davidroid 0:92706998571a 520 */
Davidroid 0:92706998571a 521 uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
Davidroid 0:92706998571a 522 {
Davidroid 0:92706998571a 523 if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
Davidroid 0:92706998571a 524 return (uint16_t)(Step_s / ((float)238.4186e-3));
Davidroid 0:92706998571a 525 else
Davidroid 0:92706998571a 526 return 0; // Warning
Davidroid 0:92706998571a 527 }
Davidroid 0:92706998571a 528
Davidroid 0:92706998571a 529 /**
Davidroid 0:92706998571a 530 * @brief Convert the FS_SPD register value into step/s.
Davidroid 0:92706998571a 531 *
Davidroid 0:92706998571a 532 * @param FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 533 * @retval step/s The full-step speed as step/s.
Davidroid 0:92706998571a 534 */
Davidroid 0:92706998571a 535 float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
Davidroid 0:92706998571a 536 {
Davidroid 0:92706998571a 537 if (FsSpd <= L6470_MAX_FS_SPD)
Davidroid 0:92706998571a 538 return ((FsSpd+0.5) * ((float)15.25));
Davidroid 0:92706998571a 539 else
Davidroid 0:92706998571a 540 return 0; // Warning
Davidroid 0:92706998571a 541 }
Davidroid 0:92706998571a 542
Davidroid 0:92706998571a 543 /**
Davidroid 0:92706998571a 544 * @brief Convert the full-step speed as step/s into a right value for FS_SPD register.
Davidroid 0:92706998571a 545 *
Davidroid 0:92706998571a 546 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 547 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 548 */
Davidroid 0:92706998571a 549 uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
Davidroid 0:92706998571a 550 {
Davidroid 0:92706998571a 551 if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
Davidroid 0:92706998571a 552 return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
Davidroid 0:92706998571a 553 else
Davidroid 0:92706998571a 554 return 0; // Warning
Davidroid 0:92706998571a 555 }
Davidroid 0:92706998571a 556
Davidroid 0:92706998571a 557 /**
Davidroid 0:92706998571a 558 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 559 *
Davidroid 0:92706998571a 560 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 561 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 562 */
Davidroid 0:92706998571a 563 float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
Davidroid 0:92706998571a 564 {
Davidroid 0:92706998571a 565 if (IntSpeed <= L6470_MAX_INT_SPEED)
Davidroid 0:92706998571a 566 return (IntSpeed * ((float)59.6046e-3));
Davidroid 0:92706998571a 567 else
Davidroid 0:92706998571a 568 return 0; // Warning
Davidroid 0:92706998571a 569 }
Davidroid 0:92706998571a 570
Davidroid 0:92706998571a 571 /**
Davidroid 0:92706998571a 572 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 573 *
Davidroid 0:92706998571a 574 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 575 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 576 */
Davidroid 0:92706998571a 577 uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
Davidroid 0:92706998571a 578 {
Davidroid 0:92706998571a 579 if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
Davidroid 0:92706998571a 580 return (uint16_t)(Step_s / ((float)59.6046e-3));
Davidroid 0:92706998571a 581 else
Davidroid 0:92706998571a 582 return 0; // Warning
Davidroid 0:92706998571a 583 }
Davidroid 0:92706998571a 584
Davidroid 0:92706998571a 585 /**
Davidroid 0:92706998571a 586 * @brief Convert the ST_SLP register value into s/step.
Davidroid 0:92706998571a 587 *
Davidroid 0:92706998571a 588 * @param StartSlope The ST_SLP register value.
Davidroid 0:92706998571a 589 * @retval s/step The start slope as s/step.
Davidroid 0:92706998571a 590 */
Davidroid 0:92706998571a 591 float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
Davidroid 0:92706998571a 592 {
Davidroid 0:92706998571a 593 // if (StSlp <= L6470_MAX_ST_SLP)
Davidroid 0:92706998571a 594 return (StSlp * ((float)1.5686e-5));
Davidroid 0:92706998571a 595 // else
Davidroid 0:92706998571a 596 // return 0; // Warning
Davidroid 0:92706998571a 597 }
Davidroid 0:92706998571a 598
Davidroid 0:92706998571a 599 /**
Davidroid 0:92706998571a 600 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 601 *
Davidroid 0:92706998571a 602 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 603 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 604 */
Davidroid 0:92706998571a 605 uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
Davidroid 0:92706998571a 606 {
Davidroid 0:92706998571a 607 if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
Davidroid 0:92706998571a 608 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 609 else
Davidroid 0:92706998571a 610 return 0; // Warning
Davidroid 0:92706998571a 611 }
Davidroid 0:92706998571a 612
Davidroid 0:92706998571a 613 /**
Davidroid 0:92706998571a 614 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 615 *
Davidroid 0:92706998571a 616 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 617 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 618 */
Davidroid 0:92706998571a 619 float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
Davidroid 0:92706998571a 620 {
Davidroid 0:92706998571a 621 // if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
Davidroid 0:92706998571a 622 return (FnSlpAcc * ((float)1.5686e-5));
Davidroid 0:92706998571a 623 // else
Davidroid 0:92706998571a 624 // return 0; // Warning
Davidroid 0:92706998571a 625 }
Davidroid 0:92706998571a 626
Davidroid 0:92706998571a 627 /**
Davidroid 0:92706998571a 628 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 629 *
Davidroid 0:92706998571a 630 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 631 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 632 */
Davidroid 0:92706998571a 633 uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
Davidroid 0:92706998571a 634 {
Davidroid 0:92706998571a 635 if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
Davidroid 0:92706998571a 636 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 637 else
Davidroid 0:92706998571a 638 return 0; // Warning
Davidroid 0:92706998571a 639 }
Davidroid 0:92706998571a 640
Davidroid 0:92706998571a 641 /**
Davidroid 0:92706998571a 642 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 643 *
Davidroid 0:92706998571a 644 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 645 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 646 */
Davidroid 0:92706998571a 647 float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
Davidroid 0:92706998571a 648 {
Davidroid 0:92706998571a 649 // if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
Davidroid 0:92706998571a 650 return (FnSlpDec * ((float)1.5686e-5));
Davidroid 0:92706998571a 651 // else
Davidroid 0:92706998571a 652 // return 0; // Warning
Davidroid 0:92706998571a 653 }
Davidroid 0:92706998571a 654
Davidroid 0:92706998571a 655 /**
Davidroid 0:92706998571a 656 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 657 *
Davidroid 0:92706998571a 658 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 659 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 660 */
Davidroid 0:92706998571a 661 uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
Davidroid 0:92706998571a 662 {
Davidroid 0:92706998571a 663 if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
Davidroid 0:92706998571a 664 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 665 else
Davidroid 0:92706998571a 666 return 0; // Warning
Davidroid 0:92706998571a 667 }
Davidroid 0:92706998571a 668
Davidroid 0:92706998571a 669 /**
Davidroid 0:92706998571a 670 * @brief Convert the OCD_TH register value into mA.
Davidroid 0:92706998571a 671 *
Davidroid 0:92706998571a 672 * @param OcdTh The OCD_TH register value.
Davidroid 0:92706998571a 673 * @retval mA The overcurrent threshold as mA.
Davidroid 0:92706998571a 674 */
Davidroid 0:92706998571a 675 float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
Davidroid 0:92706998571a 676 {
Davidroid 0:92706998571a 677 if (OcdTh <= L6470_MAX_OCD_TH)
Davidroid 0:92706998571a 678 return ((OcdTh+1) * ((float)375));
Davidroid 0:92706998571a 679 else
Davidroid 0:92706998571a 680 return 0; // Warning
Davidroid 0:92706998571a 681 }
Davidroid 0:92706998571a 682
Davidroid 0:92706998571a 683 /**
Davidroid 0:92706998571a 684 * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register.
Davidroid 0:92706998571a 685 *
Davidroid 0:92706998571a 686 * @param mA The overcurrent threshold as mA.
Davidroid 0:92706998571a 687 * @retval OcdTh The OCD_TH register value.
Davidroid 0:92706998571a 688 */
Davidroid 0:92706998571a 689 uint8_t L6470::L6470_mA_2_OcdTh(float mA)
Davidroid 0:92706998571a 690 {
Davidroid 0:92706998571a 691 float result, decimal;
Davidroid 0:92706998571a 692
Davidroid 0:92706998571a 693 if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
Davidroid 0:92706998571a 694 {
Davidroid 0:92706998571a 695 result = (mA / ((float)375));
Davidroid 0:92706998571a 696 decimal = result - (uint8_t)result;
Davidroid 0:92706998571a 697
Davidroid 0:92706998571a 698 if (decimal < (float)0.5)
Davidroid 0:92706998571a 699 return ((uint8_t)result - 1);
Davidroid 0:92706998571a 700 else
Davidroid 0:92706998571a 701 return ((uint8_t)result);
Davidroid 0:92706998571a 702 }
Davidroid 0:92706998571a 703 else
Davidroid 0:92706998571a 704 return 0; // Warning
Davidroid 0:92706998571a 705 }
Davidroid 0:92706998571a 706
Davidroid 0:92706998571a 707 /**
Davidroid 0:92706998571a 708 * @brief Convert the STALL_TH register value into mA.
Davidroid 0:92706998571a 709 *
Davidroid 0:92706998571a 710 * @param StallTh The STALL_TH register value.
Davidroid 0:92706998571a 711 * @retval mA The stall detection threshold as mA.
Davidroid 0:92706998571a 712 */
Davidroid 0:92706998571a 713 float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
Davidroid 0:92706998571a 714 {
Davidroid 0:92706998571a 715 if (StallTh <= L6470_MAX_STALL_TH)
Davidroid 0:92706998571a 716 return ((StallTh+1) * ((float)31.25));
Davidroid 0:92706998571a 717 else
Davidroid 0:92706998571a 718 return 0; // Warning
Davidroid 0:92706998571a 719 }
Davidroid 0:92706998571a 720
Davidroid 0:92706998571a 721 /**
Davidroid 0:92706998571a 722 * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register.
Davidroid 0:92706998571a 723 *
Davidroid 0:92706998571a 724 * @param mA The stall detection threshold as mA.
Davidroid 0:92706998571a 725 * @retval StallTh The STALL_TH register value.
Davidroid 0:92706998571a 726 */
Davidroid 0:92706998571a 727 uint8_t L6470::L6470_mA_2_StallTh(float mA)
Davidroid 0:92706998571a 728 {
Davidroid 0:92706998571a 729 float result, decimal;
Davidroid 0:92706998571a 730
Davidroid 0:92706998571a 731 if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
Davidroid 0:92706998571a 732 {
Davidroid 0:92706998571a 733 result = (mA / ((float)31.25));
Davidroid 0:92706998571a 734 decimal = result - (uint8_t)result;
Davidroid 0:92706998571a 735
Davidroid 0:92706998571a 736 if (decimal < (float)0.5)
Davidroid 0:92706998571a 737 return ((uint8_t)result - 1);
Davidroid 0:92706998571a 738 else
Davidroid 0:92706998571a 739 return ((uint8_t)result);
Davidroid 0:92706998571a 740 }
Davidroid 0:92706998571a 741 else
Davidroid 0:92706998571a 742 return 0; // Warning
Davidroid 0:92706998571a 743 }
Davidroid 0:92706998571a 744
Davidroid 0:92706998571a 745 /* End of L6470_Conversion_Functions */
Davidroid 0:92706998571a 746
Davidroid 0:92706998571a 747 /**
Davidroid 0:92706998571a 748 * @addtogroup L6470_AppCMDs
Davidroid 0:92706998571a 749 * @{
Davidroid 0:92706998571a 750 */
Davidroid 0:92706998571a 751
Davidroid 0:92706998571a 752 /**
Davidroid 0:92706998571a 753 * @brief SetParam command sets the register value equal to a new value.
Davidroid 0:92706998571a 754 *
Davidroid 0:92706998571a 755 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 756 * @param Value The new value.
Davidroid 0:92706998571a 757 */
Davidroid 0:92706998571a 758 void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
Davidroid 0:92706998571a 759 {
Davidroid 0:92706998571a 760 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
Davidroid 0:92706998571a 761 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 762 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 763 }
Davidroid 0:92706998571a 764
Davidroid 0:92706998571a 765 /**
Davidroid 0:92706998571a 766 * @brief GetParam command reads the register value.
Davidroid 0:92706998571a 767 *
Davidroid 0:92706998571a 768 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 769 *
Davidroid 0:92706998571a 770 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 771 */
Davidroid 0:92706998571a 772 uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
Davidroid 0:92706998571a 773 {
Davidroid 0:92706998571a 774 uint8_t ValueLengthByte;
Davidroid 0:92706998571a 775 uint32_t ReceivedValue;
Davidroid 0:92706998571a 776
Davidroid 0:92706998571a 777 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
Davidroid 0:92706998571a 778 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 779 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 780
Davidroid 0:92706998571a 781 ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
Davidroid 0:92706998571a 782
Davidroid 0:92706998571a 783 ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
Davidroid 0:92706998571a 784
Davidroid 0:92706998571a 785 return ReceivedValue;
Davidroid 0:92706998571a 786 }
Davidroid 0:92706998571a 787
Davidroid 0:92706998571a 788 /**
Davidroid 0:92706998571a 789 * @brief Run command produces a motion at fixed speed.
Davidroid 0:92706998571a 790 *
Davidroid 0:92706998571a 791 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 792 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 793 */
Davidroid 0:92706998571a 794 void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 795 {
Davidroid 0:92706998571a 796 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
Davidroid 0:92706998571a 797 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 798 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 799 }
Davidroid 0:92706998571a 800
Davidroid 0:92706998571a 801 /**
Davidroid 0:92706998571a 802 * @brief StepClock command switches the device in Step-clock mode.
Davidroid 0:92706998571a 803 *
Davidroid 0:92706998571a 804 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 805 */
Davidroid 0:92706998571a 806 void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 807 {
Davidroid 0:92706998571a 808 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
Davidroid 0:92706998571a 809 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 810 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 811 }
Davidroid 0:92706998571a 812
Davidroid 0:92706998571a 813 /**
Davidroid 0:92706998571a 814 * @brief Move command produces a motion of N_STEP microsteps.
Davidroid 0:92706998571a 815 *
Davidroid 0:92706998571a 816 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 817 * @param N_Step The number of microsteps.
Davidroid 0:92706998571a 818 */
Davidroid 0:92706998571a 819 void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
Davidroid 0:92706998571a 820 {
Davidroid 0:92706998571a 821 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
Davidroid 0:92706998571a 822 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 823 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 824 }
Davidroid 0:92706998571a 825
Davidroid 0:92706998571a 826 /**
Davidroid 0:92706998571a 827 * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path.
Davidroid 0:92706998571a 828 *
Davidroid 0:92706998571a 829 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 830 */
Davidroid 0:92706998571a 831 void L6470::L6470_GoTo(uint32_t AbsPos)
Davidroid 0:92706998571a 832 {
Davidroid 0:92706998571a 833 if (AbsPos <= L6470_POSITION_RANGE)
Davidroid 0:92706998571a 834 {
Davidroid 0:92706998571a 835 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
Davidroid 0:92706998571a 836 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 837 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 838 }
Davidroid 0:92706998571a 839 }
Davidroid 0:92706998571a 840
Davidroid 0:92706998571a 841 /**
Davidroid 0:92706998571a 842 * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
Davidroid 0:92706998571a 843 *
Davidroid 0:92706998571a 844 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 845 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 846 */
Davidroid 0:92706998571a 847 void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
Davidroid 0:92706998571a 848 {
Davidroid 0:92706998571a 849 if (AbsPos <= L6470_POSITION_RANGE)
Davidroid 0:92706998571a 850 {
Davidroid 0:92706998571a 851 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
Davidroid 0:92706998571a 852 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 853 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 854 }
Davidroid 0:92706998571a 855 }
Davidroid 0:92706998571a 856
Davidroid 0:92706998571a 857 /**
Davidroid 0:92706998571a 858 * @brief GoUntil command produces a motion at fixed speed imposing a direction
Davidroid 0:92706998571a 859 * until an external switch turn-on event occurs.
Davidroid 0:92706998571a 860 *
Davidroid 0:92706998571a 861 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 862 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 863 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 864 */
Davidroid 0:92706998571a 865 void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 866 {
Davidroid 0:92706998571a 867 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
Davidroid 0:92706998571a 868 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 869 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 870 }
Davidroid 0:92706998571a 871
Davidroid 0:92706998571a 872 /**
Davidroid 0:92706998571a 873 * @brief ReleaseSW command produces a motion at minimum speed imposing a direction
Davidroid 0:92706998571a 874 * until SW is released.
Davidroid 0:92706998571a 875 *
Davidroid 0:92706998571a 876 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 877 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 878 */
Davidroid 0:92706998571a 879 void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 880 {
Davidroid 0:92706998571a 881 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
Davidroid 0:92706998571a 882 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 883 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 884 }
Davidroid 0:92706998571a 885
Davidroid 0:92706998571a 886 /**
Davidroid 0:92706998571a 887 * @brief GoHome command produces a motion to the HOME position (zero position)
Davidroid 0:92706998571a 888 * via the shortest path.
Davidroid 0:92706998571a 889 *
Davidroid 0:92706998571a 890 */
Davidroid 0:92706998571a 891 void L6470::L6470_GoHome(void)
Davidroid 0:92706998571a 892 {
Davidroid 0:92706998571a 893 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
Davidroid 0:92706998571a 894 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 895 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 896 }
Davidroid 0:92706998571a 897
Davidroid 0:92706998571a 898 /**
Davidroid 0:92706998571a 899 * @brief GoMark command produces a motion to the MARK position performing the
Davidroid 0:92706998571a 900 * minimum path.
Davidroid 0:92706998571a 901 *
Davidroid 0:92706998571a 902 */
Davidroid 0:92706998571a 903 void L6470::L6470_GoMark(void)
Davidroid 0:92706998571a 904 {
Davidroid 0:92706998571a 905 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
Davidroid 0:92706998571a 906 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 907 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 908 }
Davidroid 0:92706998571a 909
Davidroid 0:92706998571a 910 /**
Davidroid 0:92706998571a 911 * @brief ResetPos command resets the ABS_POS register to zero.
Davidroid 0:92706998571a 912 *
Davidroid 0:92706998571a 913 */
Davidroid 0:92706998571a 914 void L6470::L6470_ResetPos(void)
Davidroid 0:92706998571a 915 {
Davidroid 0:92706998571a 916 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
Davidroid 0:92706998571a 917 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 918 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 919 }
Davidroid 0:92706998571a 920
Davidroid 0:92706998571a 921 /**
Davidroid 0:92706998571a 922 * @brief ResetDevice command resets the device to power-up conditions.
Davidroid 0:92706998571a 923 *
Davidroid 0:92706998571a 924 */
Davidroid 0:92706998571a 925 void L6470::L6470_ResetDevice(void)
Davidroid 0:92706998571a 926 {
Davidroid 0:92706998571a 927 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
Davidroid 0:92706998571a 928 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 929 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 930 }
Davidroid 0:92706998571a 931
Davidroid 0:92706998571a 932 /**
Davidroid 0:92706998571a 933 * @brief SoftStop command causes an immediate deceleration to zero speed and
Davidroid 0:92706998571a 934 * a consequent motor stop; the deceleration value used is the one stored
Davidroid 0:92706998571a 935 * in the DEC register.
Davidroid 0:92706998571a 936 *
Davidroid 0:92706998571a 937 */
Davidroid 0:92706998571a 938 void L6470::L6470_SoftStop(void)
Davidroid 0:92706998571a 939 {
Davidroid 0:92706998571a 940 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 941 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 942 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 943 }
Davidroid 0:92706998571a 944
Davidroid 0:92706998571a 945 /**
Davidroid 0:92706998571a 946 * @brief HardStop command causes an immediate motor stop with infinite deceleration.
Davidroid 0:92706998571a 947 *
Davidroid 0:92706998571a 948 */
Davidroid 0:92706998571a 949 void L6470::L6470_HardStop(void)
Davidroid 0:92706998571a 950 {
Davidroid 0:92706998571a 951 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 952 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 953 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 954 }
Davidroid 0:92706998571a 955
Davidroid 0:92706998571a 956 /**
Davidroid 0:92706998571a 957 * @brief SoftHiZ command disables the power bridges (high impedance state)
Davidroid 0:92706998571a 958 * after a deceleration to zero; the deceleration value used is the one
Davidroid 0:92706998571a 959 * stored in the DEC register.
Davidroid 0:92706998571a 960 *
Davidroid 0:92706998571a 961 */
Davidroid 0:92706998571a 962 void L6470::L6470_SoftHiZ(void)
Davidroid 0:92706998571a 963 {
Davidroid 0:92706998571a 964 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 965 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 966 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 967 }
Davidroid 0:92706998571a 968
Davidroid 0:92706998571a 969 /**
Davidroid 0:92706998571a 970 * @brief HardHiZ command immediately disables the power bridges (high impedance state).
Davidroid 0:92706998571a 971 *
Davidroid 0:92706998571a 972 */
Davidroid 0:92706998571a 973 void L6470::L6470_HardHiZ(void)
Davidroid 0:92706998571a 974 {
Davidroid 0:92706998571a 975 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 976 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 977 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 978 }
Davidroid 0:92706998571a 979
Davidroid 0:92706998571a 980 /**
Davidroid 0:92706998571a 981 * @brief GetStatus command returns the STATUS register value.
Davidroid 0:92706998571a 982 *
Davidroid 0:92706998571a 983 *
Davidroid 0:92706998571a 984 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 985 */
Davidroid 0:92706998571a 986 uint16_t L6470::L6470_GetStatus(void)
Davidroid 0:92706998571a 987 {
Davidroid 0:92706998571a 988 uint16_t ReceivedValue;
Davidroid 0:92706998571a 989
Davidroid 0:92706998571a 990 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
Davidroid 0:92706998571a 991 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 992 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 993
Davidroid 0:92706998571a 994 ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
Davidroid 0:92706998571a 995
Davidroid 0:92706998571a 996 return ReceivedValue;
Davidroid 0:92706998571a 997 }
Davidroid 0:92706998571a 998
Davidroid 0:92706998571a 999 /* End of L6470_AppCMDs */
Davidroid 0:92706998571a 1000
Davidroid 0:92706998571a 1001 /**
Davidroid 0:92706998571a 1002 * @addtogroup L6470_AppCMDs_ToBePrepared
Davidroid 0:92706998571a 1003 * @{
Davidroid 0:92706998571a 1004 */
Davidroid 0:92706998571a 1005
Davidroid 0:92706998571a 1006 /**
Davidroid 0:92706998571a 1007 * @brief Prepare to send @ref L6470_SetParam command.
Davidroid 0:92706998571a 1008 *
Davidroid 0:92706998571a 1009 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 1010 * @param Value The new value.
Davidroid 0:92706998571a 1011 *
Davidroid 0:92706998571a 1012 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1013 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1014 */
Davidroid 0:92706998571a 1015 void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
Davidroid 0:92706998571a 1016 {
Davidroid 14:e614697ebf34 1017 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
Davidroid 0:92706998571a 1018 }
Davidroid 0:92706998571a 1019
Davidroid 0:92706998571a 1020 /**
Davidroid 0:92706998571a 1021 * @brief Prepare to send @ref L6470_GetParam command.
Davidroid 0:92706998571a 1022 *
Davidroid 0:92706998571a 1023 * @param L6470_Id The L6470 identifier inside the daisy chain.
Davidroid 0:92706998571a 1024 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 1025 *
Davidroid 0:92706998571a 1026 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 1027 *
Davidroid 0:92706998571a 1028 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1029 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1030 */
Davidroid 0:92706998571a 1031 void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
Davidroid 0:92706998571a 1032 {
Davidroid 14:e614697ebf34 1033 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
Davidroid 0:92706998571a 1034 }
Davidroid 0:92706998571a 1035
Davidroid 0:92706998571a 1036 /**
Davidroid 0:92706998571a 1037 * @brief Prepare to send @ref L6470_Run command.
Davidroid 0:92706998571a 1038 *
Davidroid 0:92706998571a 1039 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1040 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 1041 *
Davidroid 0:92706998571a 1042 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1043 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1044 */
Davidroid 0:92706998571a 1045 void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 1046 {
Davidroid 0:92706998571a 1047 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
Davidroid 0:92706998571a 1048 }
Davidroid 0:92706998571a 1049
Davidroid 0:92706998571a 1050 /**
Davidroid 0:92706998571a 1051 * @brief Prepare to send @ref L6470_StepClock command.
Davidroid 0:92706998571a 1052 *
Davidroid 0:92706998571a 1053 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1054 *
Davidroid 0:92706998571a 1055 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1056 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1057 */
Davidroid 0:92706998571a 1058 void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 1059 {
Davidroid 0:92706998571a 1060 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
Davidroid 0:92706998571a 1061 }
Davidroid 0:92706998571a 1062
Davidroid 0:92706998571a 1063 /**
Davidroid 0:92706998571a 1064 * @brief Prepare to send @ref L6470_Move command.
Davidroid 0:92706998571a 1065 *
Davidroid 0:92706998571a 1066 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1067 * @param N_Step The number of microsteps.
Davidroid 0:92706998571a 1068 *
Davidroid 0:92706998571a 1069 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1070 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1071 */
Davidroid 0:92706998571a 1072 void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
Davidroid 0:92706998571a 1073 {
Davidroid 0:92706998571a 1074 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
Davidroid 0:92706998571a 1075 }
Davidroid 0:92706998571a 1076
Davidroid 0:92706998571a 1077 /**
Davidroid 0:92706998571a 1078 * @brief Prepare to send @ref L6470_GoTo command.
Davidroid 0:92706998571a 1079 *
Davidroid 0:92706998571a 1080 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 1081 *
Davidroid 0:92706998571a 1082 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1083 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1084 */
Davidroid 0:92706998571a 1085 void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
Davidroid 0:92706998571a 1086 {
Davidroid 0:92706998571a 1087 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
Davidroid 0:92706998571a 1088 }
Davidroid 0:92706998571a 1089
Davidroid 0:92706998571a 1090 /**
Davidroid 0:92706998571a 1091 * @brief Prepare to send @ref L6470_GoToDIR command.
Davidroid 0:92706998571a 1092 *
Davidroid 0:92706998571a 1093 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1094 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 1095 *
Davidroid 0:92706998571a 1096 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1097 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1098 */
Davidroid 0:92706998571a 1099 void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
Davidroid 0:92706998571a 1100 {
Davidroid 0:92706998571a 1101 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
Davidroid 0:92706998571a 1102 }
Davidroid 0:92706998571a 1103
Davidroid 0:92706998571a 1104 /**
Davidroid 0:92706998571a 1105 * @brief Prepare to send @ref L6470_GoUntil command.
Davidroid 0:92706998571a 1106 *
Davidroid 0:92706998571a 1107 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 1108 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1109 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 1110 *
Davidroid 0:92706998571a 1111 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1112 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1113 */
Davidroid 0:92706998571a 1114 void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 1115 {
Davidroid 0:92706998571a 1116 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
Davidroid 0:92706998571a 1117 }
Davidroid 0:92706998571a 1118
Davidroid 0:92706998571a 1119 /**
Davidroid 0:92706998571a 1120 * @brief Prepare to send @ref L6470_ReleaseSW.
Davidroid 0:92706998571a 1121 *
Davidroid 0:92706998571a 1122 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 1123 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1124 *
Davidroid 0:92706998571a 1125 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1126 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1127 */
Davidroid 0:92706998571a 1128 void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 1129 {
Davidroid 0:92706998571a 1130 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
Davidroid 0:92706998571a 1131 }
Davidroid 0:92706998571a 1132
Davidroid 0:92706998571a 1133 /**
Davidroid 0:92706998571a 1134 * @brief Prepare to send @ref L6470_GoHome command.
Davidroid 0:92706998571a 1135 *
Davidroid 0:92706998571a 1136 *
Davidroid 0:92706998571a 1137 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1138 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1139 */
Davidroid 0:92706998571a 1140 void L6470::L6470_PrepareGoHome(void)
Davidroid 0:92706998571a 1141 {
Davidroid 0:92706998571a 1142 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
Davidroid 0:92706998571a 1143 }
Davidroid 0:92706998571a 1144
Davidroid 0:92706998571a 1145 /**
Davidroid 0:92706998571a 1146 * @brief Prepare to send @ref L6470_GoMark command.
Davidroid 0:92706998571a 1147 *
Davidroid 0:92706998571a 1148 *
Davidroid 0:92706998571a 1149 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1150 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1151 */
Davidroid 0:92706998571a 1152 void L6470::L6470_PrepareGoMark(void)
Davidroid 0:92706998571a 1153 {
Davidroid 0:92706998571a 1154 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
Davidroid 0:92706998571a 1155 }
Davidroid 0:92706998571a 1156
Davidroid 0:92706998571a 1157 /**
Davidroid 0:92706998571a 1158 * @brief Prepare to send @ref L6470_ResetPos command.
Davidroid 0:92706998571a 1159 *
Davidroid 0:92706998571a 1160 *
Davidroid 0:92706998571a 1161 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1162 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1163 */
Davidroid 0:92706998571a 1164 void L6470::L6470_PrepareResetPos(void)
Davidroid 0:92706998571a 1165 {
Davidroid 0:92706998571a 1166 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
Davidroid 0:92706998571a 1167 }
Davidroid 0:92706998571a 1168
Davidroid 0:92706998571a 1169 /**
Davidroid 0:92706998571a 1170 * @brief Prepare to send @ref L6470_ResetDevice command.
Davidroid 0:92706998571a 1171 *
Davidroid 0:92706998571a 1172 *
Davidroid 0:92706998571a 1173 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1174 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1175 */
Davidroid 0:92706998571a 1176 void L6470::L6470_PrepareResetDevice(void)
Davidroid 0:92706998571a 1177 {
Davidroid 0:92706998571a 1178 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
Davidroid 0:92706998571a 1179 }
Davidroid 0:92706998571a 1180
Davidroid 0:92706998571a 1181 /**
Davidroid 0:92706998571a 1182 * @brief Prepare to send @ref L6470_SoftStop command.
Davidroid 0:92706998571a 1183 *
Davidroid 0:92706998571a 1184 *
Davidroid 0:92706998571a 1185 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1186 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1187 */
Davidroid 0:92706998571a 1188 void L6470::L6470_PrepareSoftStop(void)
Davidroid 0:92706998571a 1189 {
Davidroid 0:92706998571a 1190 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 1191 }
Davidroid 0:92706998571a 1192
Davidroid 0:92706998571a 1193 /**
Davidroid 0:92706998571a 1194 * @brief Prepare to send @ref L6470_HardStop command.
Davidroid 0:92706998571a 1195 *
Davidroid 0:92706998571a 1196 *
Davidroid 0:92706998571a 1197 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1198 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1199 */
Davidroid 0:92706998571a 1200 void L6470::L6470_PrepareHardStop(void)
Davidroid 0:92706998571a 1201 {
Davidroid 0:92706998571a 1202 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 1203 }
Davidroid 0:92706998571a 1204
Davidroid 0:92706998571a 1205 /**
Davidroid 0:92706998571a 1206 * @brief Prepare to send @ref L6470_SoftHiZ command.
Davidroid 0:92706998571a 1207 *
Davidroid 0:92706998571a 1208 *
Davidroid 0:92706998571a 1209 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1210 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1211 */
Davidroid 0:92706998571a 1212 void L6470::L6470_PrepareSoftHiZ(void)
Davidroid 0:92706998571a 1213 {
Davidroid 0:92706998571a 1214 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1215 }
Davidroid 0:92706998571a 1216
Davidroid 0:92706998571a 1217 /**
Davidroid 0:92706998571a 1218 * @brief Prepare to send @ref L6470_HardHiZ command.
Davidroid 0:92706998571a 1219 *
Davidroid 0:92706998571a 1220 *
Davidroid 0:92706998571a 1221 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1222 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1223 */
Davidroid 0:92706998571a 1224 void L6470::L6470_PrepareHardHiZ(void)
Davidroid 0:92706998571a 1225 {
Davidroid 0:92706998571a 1226 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1227 }
Davidroid 0:92706998571a 1228
Davidroid 0:92706998571a 1229 /**
Davidroid 0:92706998571a 1230 * @brief Prepare to send @ref L6470_GetStatus command.
Davidroid 0:92706998571a 1231 *
Davidroid 0:92706998571a 1232 *
Davidroid 0:92706998571a 1233 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1234 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1235 */
Davidroid 0:92706998571a 1236 void L6470::L6470_PrepareGetStatus(void)
Davidroid 0:92706998571a 1237 {
Davidroid 0:92706998571a 1238 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
Davidroid 0:92706998571a 1239 }
Davidroid 0:92706998571a 1240
Davidroid 0:92706998571a 1241 /* End of L6470_AppCMDs_ToBePrepared */
Davidroid 0:92706998571a 1242
Davidroid 0:92706998571a 1243 /**
Davidroid 0:92706998571a 1244 * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the
Davidroid 0:92706998571a 1245 * L6470 daisy chain.
Davidroid 0:92706998571a 1246 *
Davidroid 0:92706998571a 1247 * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure
Davidroid 0:92706998571a 1248 * containing returned values from each L6470 of the daisy chain for each
Davidroid 0:92706998571a 1249 * sent SPI data.
Davidroid 0:92706998571a 1250 */
Davidroid 0:92706998571a 1251 uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
Davidroid 0:92706998571a 1252 {
Davidroid 0:92706998571a 1253 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1254 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1255
Davidroid 0:92706998571a 1256 return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1257 }
Davidroid 0:92706998571a 1258
Davidroid 0:92706998571a 1259 /**
Davidroid 0:92706998571a 1260 * @brief Send command to the L6470 daisy chain via SPI
Davidroid 0:92706998571a 1261 * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470
Davidroid 0:92706998571a 1262 * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470
Davidroid 0:92706998571a 1263 */
Davidroid 0:92706998571a 1264 void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
Davidroid 0:92706998571a 1265 {
Davidroid 0:92706998571a 1266 uint8_t spibyte;
Davidroid 0:92706998571a 1267
Davidroid 0:92706998571a 1268 L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid 0:92706998571a 1269
Davidroid 0:92706998571a 1270 /* Send all command bytes via SPI */
Davidroid 0:92706998571a 1271 for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
Davidroid 0:92706998571a 1272 {
Davidroid 0:92706998571a 1273 /* Send the command via SPI */
Davidroid 0:92706998571a 1274 L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
Davidroid 0:92706998571a 1275
Davidroid 0:92706998571a 1276 //_DELAY(TDISCS);
Davidroid 0:92706998571a 1277 uint8_t delay_cnt;
Davidroid 0:92706998571a 1278 for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS
Davidroid 0:92706998571a 1279 }
Davidroid 0:92706998571a 1280 }
Davidroid 0:92706998571a 1281
Davidroid 0:92706998571a 1282 /**
Davidroid 0:92706998571a 1283 * @brief Extracts the data returned by the L6470 from the matrix that
Davidroid 0:92706998571a 1284 * contains the received SPI data.
Davidroid 0:92706998571a 1285 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 1286 * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that
Davidroid 0:92706998571a 1287 * contains the received data by SPI from the L6470 daisy chain.
Davidroid 0:92706998571a 1288 * @param LengthByte The number of bytes about the received value.
Davidroid 0:92706998571a 1289 */
Davidroid 0:92706998571a 1290 uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
Davidroid 0:92706998571a 1291 {
Davidroid 0:92706998571a 1292 uint32_t value;
Davidroid 0:92706998571a 1293 uint8_t i;
Davidroid 0:92706998571a 1294
Davidroid 0:92706998571a 1295 value = 0x000000;
Davidroid 0:92706998571a 1296 for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
Davidroid 0:92706998571a 1297 {
Davidroid 0:92706998571a 1298 value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
Davidroid 0:92706998571a 1299 }
Davidroid 1:b78dab6d2c58 1300
Davidroid 0:92706998571a 1301 return value;
Davidroid 0:92706998571a 1302 }
Davidroid 0:92706998571a 1303
Davidroid 0:92706998571a 1304 /**
Davidroid 0:92706998571a 1305 * @brief Check the state of a flag inside the L6470 STATUS register.
Davidroid 0:92706998571a 1306 *
Davidroid 0:92706998571a 1307 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 1308 * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked.
Davidroid 0:92706998571a 1309 *
Davidroid 0:92706998571a 1310 * @retval state The flag state.
Davidroid 0:92706998571a 1311 */
Davidroid 0:92706998571a 1312
Davidroid 0:92706998571a 1313 uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
Davidroid 0:92706998571a 1314 {
Davidroid 0:92706998571a 1315 uint8_t state = 0;
Davidroid 0:92706998571a 1316
Davidroid 0:92706998571a 1317 *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
Davidroid 0:92706998571a 1318
Davidroid 0:92706998571a 1319 switch(L6470_StatusRegisterFlagId)
Davidroid 0:92706998571a 1320 {
Davidroid 0:92706998571a 1321 case HiZ_ID:
Davidroid 0:92706998571a 1322 state = pL6470_StatusRegister->HiZ;
Davidroid 0:92706998571a 1323 break;
Davidroid 0:92706998571a 1324 case BUSY_ID:
Davidroid 0:92706998571a 1325 state = pL6470_StatusRegister->BUSY;
Davidroid 0:92706998571a 1326 break;
Davidroid 0:92706998571a 1327 case SW_F_ID:
Davidroid 0:92706998571a 1328 state = pL6470_StatusRegister->SW_F;
Davidroid 0:92706998571a 1329 break;
Davidroid 0:92706998571a 1330 case SW_EVN_ID:
Davidroid 0:92706998571a 1331 state = pL6470_StatusRegister->SW_EVN;
Davidroid 0:92706998571a 1332 break;
Davidroid 0:92706998571a 1333 case DIR_ID:
Davidroid 0:92706998571a 1334 state = pL6470_StatusRegister->DIR;
Davidroid 0:92706998571a 1335 break;
Davidroid 0:92706998571a 1336 case MOT_STATUS_ID:
Davidroid 0:92706998571a 1337 state = pL6470_StatusRegister->MOT_STATUS;
Davidroid 0:92706998571a 1338 break;
Davidroid 0:92706998571a 1339 case NOTPERF_CMD_ID:
Davidroid 0:92706998571a 1340 state = pL6470_StatusRegister->NOTPERF_CMD;
Davidroid 0:92706998571a 1341 break;
Davidroid 0:92706998571a 1342 case WRONG_CMD_ID:
Davidroid 0:92706998571a 1343 state = pL6470_StatusRegister->WRONG_CMD;
Davidroid 0:92706998571a 1344 break;
Davidroid 0:92706998571a 1345 case UVLO_ID:
Davidroid 0:92706998571a 1346 state = pL6470_StatusRegister->UVLO;
Davidroid 0:92706998571a 1347 break;
Davidroid 0:92706998571a 1348 case TH_WRN_ID:
Davidroid 0:92706998571a 1349 state = pL6470_StatusRegister->TH_WRN;
Davidroid 0:92706998571a 1350 break;
Davidroid 0:92706998571a 1351 case TH_SD_ID:
Davidroid 0:92706998571a 1352 state = pL6470_StatusRegister->TH_SD;
Davidroid 0:92706998571a 1353 break;
Davidroid 0:92706998571a 1354 case OCD_ID:
Davidroid 0:92706998571a 1355 state = pL6470_StatusRegister->OCD;
Davidroid 0:92706998571a 1356 break;
Davidroid 0:92706998571a 1357 case STEP_LOSS_A_ID:
Davidroid 0:92706998571a 1358 state = pL6470_StatusRegister->STEP_LOSS_A;
Davidroid 0:92706998571a 1359 break;
Davidroid 0:92706998571a 1360 case STEP_LOSS_B_ID:
Davidroid 0:92706998571a 1361 state = pL6470_StatusRegister->STEP_LOSS_B;
Davidroid 0:92706998571a 1362 break;
Davidroid 0:92706998571a 1363 case SCK_MOD_ID:
Davidroid 0:92706998571a 1364 state = pL6470_StatusRegister->SCK_MOD;
Davidroid 0:92706998571a 1365 break;
Davidroid 0:92706998571a 1366 }
Davidroid 0:92706998571a 1367
Davidroid 0:92706998571a 1368 return state;
Davidroid 0:92706998571a 1369 }
Davidroid 0:92706998571a 1370
Davidroid 0:92706998571a 1371 /**
Davidroid 0:92706998571a 1372 * @brief Return the mnemonic name for the L6470 register.
Davidroid 0:92706998571a 1373 * @param id The identifier of the L6470 register.
Davidroid 0:92706998571a 1374 */
Davidroid 0:92706998571a 1375 uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
Davidroid 0:92706998571a 1376 {
Davidroid 0:92706998571a 1377 if (id < L6470REGIDSIZE)
Davidroid 0:92706998571a 1378 {
Davidroid 0:92706998571a 1379 return (uint8_t*)L6470_Register[id].Name;
Davidroid 0:92706998571a 1380 }
Davidroid 0:92706998571a 1381 else
Davidroid 0:92706998571a 1382 {
Davidroid 0:92706998571a 1383 return NULL;
Davidroid 0:92706998571a 1384 }
Davidroid 0:92706998571a 1385 }
Davidroid 0:92706998571a 1386
Davidroid 0:92706998571a 1387 /**
Davidroid 0:92706998571a 1388 * @brief Configures the L6470 registers.
Davidroid 12:a942d51c488b 1389 * @param init The pointer to the initialization structure.
Davidroid 0:92706998571a 1390 */
Davidroid 14:e614697ebf34 1391 Status_t L6470::L6470_Config(void *init)
Davidroid 0:92706998571a 1392 {
Davidroid 0:92706998571a 1393 /* Disable the L6470. */
Davidroid 0:92706998571a 1394 L6470_DISABLE();
Davidroid 0:92706998571a 1395
Davidroid 0:92706998571a 1396 /* Enable the L6470. */
Davidroid 0:92706998571a 1397 L6470_ENABLE();
Davidroid 0:92706998571a 1398
Davidroid 0:92706998571a 1399 /* Reset devices. */
Davidroid 0:92706998571a 1400 ResetDevice();
Davidroid 0:92706998571a 1401
Davidroid 0:92706998571a 1402 /* Reset Status Register flags. */
Davidroid 0:92706998571a 1403 GetStatus();
Davidroid 0:92706998571a 1404
Davidroid 0:92706998571a 1405 /* Prepare the 'Register' field of StepperMotorDriverHandle */
Davidroid 14:e614697ebf34 1406 L6470_Init_t *MotorParameterData = (L6470_Init_t *) init;
Davidroid 0:92706998571a 1407 StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
Davidroid 0:92706998571a 1408 StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
Davidroid 0:92706998571a 1409 StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
Davidroid 0:92706998571a 1410 StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
Davidroid 0:92706998571a 1411 StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
Davidroid 0:92706998571a 1412 StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1413 StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1414 StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1415 StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1416 StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
Davidroid 0:92706998571a 1417 StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
Davidroid 0:92706998571a 1418 StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
Davidroid 0:92706998571a 1419 StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
Davidroid 0:92706998571a 1420 StepperMotorRegister.K_THERM = MotorParameterData->kterm;
Davidroid 0:92706998571a 1421 StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
Davidroid 0:92706998571a 1422 StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
Davidroid 0:92706998571a 1423 StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
Davidroid 0:92706998571a 1424 StepperMotorRegister.CONFIG = MotorParameterData->config;
Davidroid 17:4b3dc908724f 1425 StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
Davidroid 0:92706998571a 1426
Davidroid 0:92706998571a 1427 /* Write the L6470 registers with the prepared data */
Davidroid 0:92706998571a 1428 L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
Davidroid 0:92706998571a 1429 L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
Davidroid 0:92706998571a 1430 L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
Davidroid 0:92706998571a 1431 L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
Davidroid 0:92706998571a 1432 L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
Davidroid 0:92706998571a 1433 L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
Davidroid 0:92706998571a 1434 L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
Davidroid 0:92706998571a 1435 L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
Davidroid 0:92706998571a 1436 L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
Davidroid 0:92706998571a 1437 L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
Davidroid 0:92706998571a 1438 L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
Davidroid 0:92706998571a 1439 L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
Davidroid 0:92706998571a 1440 L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
Davidroid 0:92706998571a 1441 L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
Davidroid 0:92706998571a 1442 L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
Davidroid 0:92706998571a 1443 L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
Davidroid 0:92706998571a 1444 L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
Davidroid 0:92706998571a 1445 L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
Davidroid 17:4b3dc908724f 1446 if (!SetStepMode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
Davidroid 17:4b3dc908724f 1447 return COMPONENT_ERROR;
Davidroid 0:92706998571a 1448
Davidroid 0:92706998571a 1449 return COMPONENT_OK;
Davidroid 0:92706998571a 1450 }
Davidroid 0:92706998571a 1451
Davidroid 0:92706998571a 1452 /* End of L6470_Exported_Functions */
Davidroid 0:92706998571a 1453
Davidroid 0:92706998571a 1454 /* End of L6470 */
Davidroid 0:92706998571a 1455
Davidroid 0:92706998571a 1456 /* End of Components */
Davidroid 0:92706998571a 1457
Davidroid 0:92706998571a 1458 /* End of BSP */
Davidroid 0:92706998571a 1459
Davidroid 0:92706998571a 1460 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/