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.h@0:92706998571a, 2015-11-20 (annotated)

Committer:
Davidroid
Date:
Fri Nov 20 18:07:45 2015 +0000
Revision:
0:92706998571a
Child:
11:1aca63b2f034
Library to handle the X_NUCLEO_IHM02A1 Motor Control Expansion Board based on the the L6470 component.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file L6470.h
Davidroid 0:92706998571a 4 * @date 01/10/2014 12:00:00
Davidroid 0:92706998571a 5 * @brief This file contains definitions, exported variables and function
Davidroid 0:92706998571a 6 * prototypes related to the L6470.
Davidroid 0:92706998571a 7 ******************************************************************************
Davidroid 0:92706998571a 8 *
Davidroid 0:92706998571a 9 * COPYRIGHT(c) 2014 STMicroelectronics
Davidroid 0:92706998571a 10 *
Davidroid 0:92706998571a 11 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 12 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 13 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 14 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 16 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 17 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 19 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 20 * without specific prior written permission.
Davidroid 0:92706998571a 21 *
Davidroid 0:92706998571a 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 32 *
Davidroid 0:92706998571a 33 ******************************************************************************
Davidroid 0:92706998571a 34 */
Davidroid 0:92706998571a 35
Davidroid 0:92706998571a 36 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 0:92706998571a 37 #ifndef __L6470_H
Davidroid 0:92706998571a 38 #define __L6470_H
Davidroid 0:92706998571a 39
Davidroid 0:92706998571a 40 #ifdef __cplusplus
Davidroid 0:92706998571a 41 extern "C" {
Davidroid 0:92706998571a 42 #endif
Davidroid 0:92706998571a 43
Davidroid 0:92706998571a 44 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 45 #include "microstepping_motor.h"
Davidroid 0:92706998571a 46
Davidroid 0:92706998571a 47 /**
Davidroid 0:92706998571a 48 * @addtogroup BSP
Davidroid 0:92706998571a 49 * @{
Davidroid 0:92706998571a 50 */
Davidroid 0:92706998571a 51
Davidroid 0:92706998571a 52 /**
Davidroid 0:92706998571a 53 * @addtogroup Components
Davidroid 0:92706998571a 54 * @{
Davidroid 0:92706998571a 55 */
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /**
Davidroid 0:92706998571a 58 * @defgroup L6470
Davidroid 0:92706998571a 59 * @brief Tools to manage the L6470 Stepper Motor Driver.
Davidroid 0:92706998571a 60 * @{
Davidroid 0:92706998571a 61 */
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /**
Davidroid 0:92706998571a 64 * @defgroup L6470_Exported_Types
Davidroid 0:92706998571a 65 * @brief L6470 Exported Types.
Davidroid 0:92706998571a 66 * @{
Davidroid 0:92706998571a 67 */
Davidroid 0:92706998571a 68
Davidroid 0:92706998571a 69 /**
Davidroid 0:92706998571a 70 * @brief The structure to store some features of the L6470 Registers.
Davidroid 0:92706998571a 71 */
Davidroid 0:92706998571a 72 typedef struct {
Davidroid 0:92706998571a 73 uint8_t Address; //!< Register Address
Davidroid 0:92706998571a 74 uint8_t Name[12]; //!< Register Name
Davidroid 0:92706998571a 75 uint8_t LengthBit; //!< Register Length in bits
Davidroid 0:92706998571a 76 uint8_t LengthByte; //!< Register Length in bytes
Davidroid 0:92706998571a 77 uint32_t ResetValue; //!< Register Reset Value
Davidroid 0:92706998571a 78 } sL6470_Register_t;
Davidroid 0:92706998571a 79
Davidroid 0:92706998571a 80 /**
Davidroid 0:92706998571a 81 * @brief The structure to store some features of the L6470 Application Commands.
Davidroid 0:92706998571a 82 */
Davidroid 0:92706998571a 83 typedef struct {
Davidroid 0:92706998571a 84 uint8_t Mnemonic[12]; //!< AppCmd Mnemonic
Davidroid 0:92706998571a 85 uint8_t BinaryCode; //!< AppCmd Binary Code
Davidroid 0:92706998571a 86 uint8_t NrOfParameters; //!< AppCmd number of needed parameters
Davidroid 0:92706998571a 87 } sL6470_ApplicationCommand_t;
Davidroid 0:92706998571a 88
Davidroid 0:92706998571a 89 /**
Davidroid 0:92706998571a 90 * @brief The structure to store some features about the L6470 Motor Direction.
Davidroid 0:92706998571a 91 */
Davidroid 0:92706998571a 92 typedef struct {
Davidroid 0:92706998571a 93 uint8_t Mnemonic[8]; //!< L6470 Direction Mnemonic
Davidroid 0:92706998571a 94 uint8_t BinaryCode; //!< L6470 Direction Binary Code
Davidroid 0:92706998571a 95 } sL6470_Direction_t;
Davidroid 0:92706998571a 96
Davidroid 0:92706998571a 97 /**
Davidroid 0:92706998571a 98 * @brief The structure to store some features about the action taken with the L6470 ABS_POS register.
Davidroid 0:92706998571a 99 */
Davidroid 0:92706998571a 100 typedef struct {
Davidroid 0:92706998571a 101 uint8_t Mnemonic[4]; //!< ACT Mnemonic
Davidroid 0:92706998571a 102 uint8_t BinaryCode; //!< ACT Binary Code
Davidroid 0:92706998571a 103 } sL6470_ACT_t;
Davidroid 0:92706998571a 104
Davidroid 0:92706998571a 105 /**
Davidroid 0:92706998571a 106 * @brief The structure used to store the identifier of the L6470 application
Davidroid 0:92706998571a 107 * command and its the needed parameters.
Davidroid 0:92706998571a 108 * @note The data stored into this structure will be used to fill the matrix
Davidroid 0:92706998571a 109 * used by SPI to send the command to the L6470.
Davidroid 0:92706998571a 110 */
Davidroid 0:92706998571a 111 typedef struct {
Davidroid 0:92706998571a 112 eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
Davidroid 0:92706998571a 113 uint32_t p1; //!< The 1st parameter if needed
Davidroid 0:92706998571a 114 uint32_t p2; //!< The 2nd parameter if needed
Davidroid 0:92706998571a 115 uint32_t p3; //!< The 3rd parameter if needed
Davidroid 0:92706998571a 116 } sL6470_AppCmdPkg_t;
Davidroid 0:92706998571a 117
Davidroid 0:92706998571a 118 /**
Davidroid 0:92706998571a 119 * @}
Davidroid 0:92706998571a 120 */ /* End of L6470_Exported_Types */
Davidroid 0:92706998571a 121
Davidroid 0:92706998571a 122 /**
Davidroid 0:92706998571a 123 * @defgroup L6470_Exported_Constants
Davidroid 0:92706998571a 124 * @brief L6470 Exported Constants.
Davidroid 0:92706998571a 125 * @{
Davidroid 0:92706998571a 126 */
Davidroid 0:92706998571a 127
Davidroid 0:92706998571a 128 /**
Davidroid 0:92706998571a 129 * @defgroup L6470_Register_Max_Values
Davidroid 0:92706998571a 130 * @brief Maximum values for L6470 registers.
Davidroid 0:92706998571a 131 * @{
Davidroid 0:92706998571a 132 */
Davidroid 0:92706998571a 133
Davidroid 0:92706998571a 134 #define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
Davidroid 0:92706998571a 135 #define L6470_MIN_POSITION (-(0x200000)) //!< Min position
Davidroid 0:92706998571a 136 #define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
Davidroid 0:92706998571a 137 #define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
Davidroid 0:92706998571a 138 #define L6470_MAX_ACC (0xFFF) //!< max value of ACC
Davidroid 0:92706998571a 139 #define L6470_MAX_DEC (0xFFF) //!< max value of DEC
Davidroid 0:92706998571a 140 #define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
Davidroid 0:92706998571a 141 #define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
Davidroid 0:92706998571a 142 #define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
Davidroid 0:92706998571a 143 #define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
Davidroid 0:92706998571a 144 #define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
Davidroid 0:92706998571a 145 #define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
Davidroid 0:92706998571a 146 #define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
Davidroid 0:92706998571a 147 #define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
Davidroid 0:92706998571a 148 #define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
Davidroid 0:92706998571a 149
Davidroid 0:92706998571a 150 /**
Davidroid 0:92706998571a 151 * @}
Davidroid 0:92706998571a 152 */ /* End of L6470_Register_Max_Values */
Davidroid 0:92706998571a 153
Davidroid 0:92706998571a 154 #define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
Davidroid 0:92706998571a 155 #define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
Davidroid 0:92706998571a 156 #define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
Davidroid 0:92706998571a 157 #define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
Davidroid 0:92706998571a 158 #define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
Davidroid 0:92706998571a 159 #define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
Davidroid 0:92706998571a 160
Davidroid 0:92706998571a 161 #define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
Davidroid 0:92706998571a 162 #define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid 0:92706998571a 163 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid 0:92706998571a 164 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
Davidroid 0:92706998571a 165
Davidroid 0:92706998571a 166 #define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
Davidroid 0:92706998571a 167 #define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
Davidroid 0:92706998571a 168
Davidroid 0:92706998571a 169 #define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
Davidroid 0:92706998571a 170 #define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
Davidroid 0:92706998571a 171 #define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
Davidroid 0:92706998571a 172 #define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
Davidroid 0:92706998571a 173 #define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
Davidroid 0:92706998571a 174
Davidroid 0:92706998571a 175
Davidroid 0:92706998571a 176 /**
Davidroid 0:92706998571a 177 * @brief L6470 driver data structure definition.
Davidroid 0:92706998571a 178 */
Davidroid 0:92706998571a 179 /* ACTION --------------------------------------------------------------------*
Davidroid 0:92706998571a 180 * Declare here the structure of component's data, if any, one variable per *
Davidroid 0:92706998571a 181 * line without initialization. *
Davidroid 0:92706998571a 182 * *
Davidroid 0:92706998571a 183 * Example: *
Davidroid 0:92706998571a 184 * typedef struct *
Davidroid 0:92706998571a 185 * { *
Davidroid 0:92706998571a 186 * int T0_out; *
Davidroid 0:92706998571a 187 * int T1_out; *
Davidroid 0:92706998571a 188 * float T0_degC; *
Davidroid 0:92706998571a 189 * float T1_degC; *
Davidroid 0:92706998571a 190 * } COMPONENT_DrvDataTypeDef; *
Davidroid 0:92706998571a 191 * ---------------------------------------------------------------------------*/
Davidroid 0:92706998571a 192 typedef struct
Davidroid 0:92706998571a 193 {
Davidroid 0:92706998571a 194 uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
Davidroid 0:92706998571a 195 sL6470_Register_t *L6470_Register; //[L6470REGIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Registers (the address, the names, the length in bits, the reset value)
Davidroid 0:92706998571a 196 sL6470_ApplicationCommand_t *L6470_ApplicationCommand; //[L6470APPCMDIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Application Commands (the mnemonic name, the number of needed parameters, the related funtion to call)
Davidroid 0:92706998571a 197 sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE]; //!< The mnemonic names for the L6470 direction
Davidroid 0:92706998571a 198 sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE]; //!< Action taken about ABS_POS register
Davidroid 0:92706998571a 199 sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; //!< To store the identifier of the actual L6470 application command and its the needed parameters
Davidroid 0:92706998571a 200 uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the command data that are going to be sent by SPI to the L6470 daisy chain
Davidroid 0:92706998571a 201 uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
Davidroid 0:92706998571a 202 eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
Davidroid 0:92706998571a 203 sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
Davidroid 0:92706998571a 204 sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
Davidroid 0:92706998571a 205 } L6470_DrvDataTypeDef;
Davidroid 0:92706998571a 206
Davidroid 0:92706998571a 207
Davidroid 0:92706998571a 208 /* Functions -----------------------------------------------------------------*/
Davidroid 0:92706998571a 209
Davidroid 0:92706998571a 210 /** @addtogroup BSP
Davidroid 0:92706998571a 211 * @{
Davidroid 0:92706998571a 212 */
Davidroid 0:92706998571a 213
Davidroid 0:92706998571a 214 /** @addtogroup Components
Davidroid 0:92706998571a 215 * @{
Davidroid 0:92706998571a 216 */
Davidroid 0:92706998571a 217
Davidroid 0:92706998571a 218 /** @addtogroup L6470
Davidroid 0:92706998571a 219 * @{
Davidroid 0:92706998571a 220 */
Davidroid 0:92706998571a 221
Davidroid 0:92706998571a 222 /** @defgroup L6470_IO_Functions L6470_IO_Functions
Davidroid 0:92706998571a 223 * @{
Davidroid 0:92706998571a 224 */
Davidroid 0:92706998571a 225 /* ACTION --------------------------------------------------------------------*
Davidroid 0:92706998571a 226 * Declare here extern I/O functions you need and implemented them in a glue *
Davidroid 0:92706998571a 227 * logic file on the target environment, for example within the expansion *
Davidroid 0:92706998571a 228 * board "*.c" file. E.g.: *
Davidroid 0:92706998571a 229 * extern DrvStatusTypeDef COMPONENT_IO_Read (handle, buf, regadd, bytes); *
Davidroid 0:92706998571a 230 * extern DrvStatusTypeDef COMPONENT_IO_Write(handle, buf, regadd, bytes); *
Davidroid 0:92706998571a 231 *----------------------------------------------------------------------------*/
Davidroid 0:92706998571a 232 extern void L6470_DISABLE(void);
Davidroid 0:92706998571a 233 extern void L6470_ENABLE(void);
Davidroid 0:92706998571a 234 extern void L6470_nCS_LOW(void);
Davidroid 0:92706998571a 235 extern void L6470_nCS_HIGH(void);
Davidroid 0:92706998571a 236 extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
Davidroid 0:92706998571a 237
Davidroid 0:92706998571a 238 /**
Davidroid 0:92706998571a 239 * @}
Davidroid 0:92706998571a 240 */ /* End of L6470_Exported_Variables */
Davidroid 0:92706998571a 241
Davidroid 0:92706998571a 242 /**
Davidroid 0:92706998571a 243 * @}
Davidroid 0:92706998571a 244 */ /* End of L6470 */
Davidroid 0:92706998571a 245
Davidroid 0:92706998571a 246 /**
Davidroid 0:92706998571a 247 * @}
Davidroid 0:92706998571a 248 */ /* End of Components */
Davidroid 0:92706998571a 249
Davidroid 0:92706998571a 250 /**
Davidroid 0:92706998571a 251 * @}
Davidroid 0:92706998571a 252 */ /* End of BSP */
Davidroid 0:92706998571a 253
Davidroid 0:92706998571a 254 #ifdef __cplusplus
Davidroid 0:92706998571a 255 }
Davidroid 0:92706998571a 256 #endif
Davidroid 0:92706998571a 257
Davidroid 0:92706998571a 258 #endif /* __L6470_H */
Davidroid 0:92706998571a 259
Davidroid 0:92706998571a 260 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/