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@12:a942d51c488b, 2016-01-15 (annotated)

Committer:
Davidroid
Date:
Fri Jan 15 17:05:43 2016 +0000
Revision:
12:a942d51c488b
Parent:
11:1aca63b2f034
Child:
14:e614697ebf34
+ Typos corrected.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 2:3ed992ffeada 3 * @file l6470_class.cpp
Davidroid 0:92706998571a 4 * @date 01/10/2014 12:00:00
Davidroid 0:92706998571a 5 * @brief This file provides set of firmware functions to manage the
Davidroid 0:92706998571a 6 * 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
Davidroid 0:92706998571a 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 #include "l6470.h"
Davidroid 0:92706998571a 53
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /* Methods -------------------------------------------------------------------*/
Davidroid 0:92706998571a 56
Davidroid 0:92706998571a 57 /**
Davidroid 0:92706998571a 58 * @defgroup L6470_Conversion_Functions
Davidroid 0:92706998571a 59 * @brief The following functions act just on one driver inside the L6470
Davidroid 0:92706998571a 60 * daisy chain. The command is immediately sent.
Davidroid 0:92706998571a 61 * @{
Davidroid 0:92706998571a 62 */
Davidroid 0:92706998571a 63
Davidroid 0:92706998571a 64 /* End of L6470_Conversion_Functions */
Davidroid 0:92706998571a 65
Davidroid 0:92706998571a 66 /**
Davidroid 0:92706998571a 67 * @defgroup L6470_AppCMDs
Davidroid 0:92706998571a 68 * @brief The following functions act just on one driver inside the L6470
Davidroid 0:92706998571a 69 * daisy chain. The command is immediately sent.
Davidroid 0:92706998571a 70 * @{
Davidroid 0:92706998571a 71 */
Davidroid 0:92706998571a 72
Davidroid 0:92706998571a 73 /* End of L6470_AppCMDs */
Davidroid 0:92706998571a 74
Davidroid 0:92706998571a 75 /**
Davidroid 0:92706998571a 76 * @defgroup L6470_AppCMDs_ToBePrepared
Davidroid 0:92706998571a 77 * @brief The following functions act just on one driver inside the L6470 daisy
Davidroid 0:92706998571a 78 * chain. The command is prepared and not sent. To send the application
Davidroid 0:92706998571a 79 * commands already prepared for the addressed L6470 drivers you have to
Davidroid 0:92706998571a 80 * use @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 81 * @{
Davidroid 0:92706998571a 82 */
Davidroid 0:92706998571a 83
Davidroid 0:92706998571a 84 /* End of L6470_AppCMDs_ToBePrepared */
Davidroid 0:92706998571a 85
Davidroid 0:92706998571a 86 /**
Davidroid 0:92706998571a 87 * @defgroup L6470_Private_Functions
Davidroid 0:92706998571a 88 * @brief L6470 Private Functions.
Davidroid 0:92706998571a 89 * @{
Davidroid 0:92706998571a 90 */
Davidroid 0:92706998571a 91
Davidroid 0:92706998571a 92 /* End of L6470_Private_Functions */
Davidroid 0:92706998571a 93
Davidroid 0:92706998571a 94
Davidroid 0:92706998571a 95 /**
Davidroid 0:92706998571a 96 * @addtogroup BSP
Davidroid 0:92706998571a 97 * @{
Davidroid 0:92706998571a 98 */
Davidroid 0:92706998571a 99
Davidroid 0:92706998571a 100 /**
Davidroid 0:92706998571a 101 * @addtogroup Components
Davidroid 0:92706998571a 102 * @{
Davidroid 0:92706998571a 103 */
Davidroid 0:92706998571a 104
Davidroid 0:92706998571a 105 /**
Davidroid 0:92706998571a 106 * @addtogroup L6470
Davidroid 0:92706998571a 107 * @{
Davidroid 0:92706998571a 108 */
Davidroid 0:92706998571a 109
Davidroid 0:92706998571a 110 /**
Davidroid 0:92706998571a 111 * @defgroup L6470_Private_Constants
Davidroid 0:92706998571a 112 * @brief L6470 Private Constants.
Davidroid 0:92706998571a 113 * @{
Davidroid 0:92706998571a 114 */
Davidroid 0:92706998571a 115
Davidroid 0:92706998571a 116 /* Number of instantiated devices on an expansion board. */
Davidroid 0:92706998571a 117 uint8_t L6470::number_of_devices = 0;
Davidroid 0:92706998571a 118
Davidroid 0:92706998571a 119 /* SPI Transmission for Daisy-Chain Configuration. */
Davidroid 0:92706998571a 120 eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
Davidroid 0:92706998571a 121 sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 122 uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 123 uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
Davidroid 0:92706998571a 124
Davidroid 0:92706998571a 125 /**
Davidroid 0:92706998571a 126 * @brief Array whose elements are a structure in which store information about
Davidroid 0:92706998571a 127 * the L6470 Registers (the address, the names, the length in bits, the
Davidroid 0:92706998571a 128 * reset value)
Davidroid 0:92706998571a 129 */
Davidroid 0:92706998571a 130 const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
Davidroid 0:92706998571a 131 {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position
Davidroid 0:92706998571a 132 {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position
Davidroid 0:92706998571a 133 {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position
Davidroid 0:92706998571a 134 {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed
Davidroid 0:92706998571a 135 {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration
Davidroid 0:92706998571a 136 {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration
Davidroid 0:92706998571a 137 {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed
Davidroid 0:92706998571a 138 {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed
Davidroid 0:92706998571a 139 {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed
Davidroid 0:92706998571a 140 {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL
Davidroid 0:92706998571a 141 {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL
Davidroid 0:92706998571a 142 {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL
Davidroid 0:92706998571a 143 {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL
Davidroid 0:92706998571a 144 {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed
Davidroid 0:92706998571a 145 {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope
Davidroid 0:92706998571a 146 {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope
Davidroid 0:92706998571a 147 {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope
Davidroid 0:92706998571a 148 {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor
Davidroid 0:92706998571a 149 {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 150 {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold
Davidroid 0:92706998571a 151 {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold
Davidroid 0:92706998571a 152 {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode
Davidroid 0:92706998571a 153 {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable
Davidroid 0:92706998571a 154 {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration
Davidroid 0:92706998571a 155 {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 156 };
Davidroid 0:92706998571a 157
Davidroid 0:92706998571a 158 /**
Davidroid 0:92706998571a 159 * @brief Array whose elements are a structure in which store information about
Davidroid 0:92706998571a 160 * the L6470 Application Commands (the mnemonic name, the number of
Davidroid 0:92706998571a 161 * needed parameters, the related funtion to call)
Davidroid 0:92706998571a 162 */
Davidroid 0:92706998571a 163 const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = {
Davidroid 0:92706998571a 164 {"NOP", 0x00, 0},
Davidroid 0:92706998571a 165 {"SETPARAM", 0x00, 2},
Davidroid 0:92706998571a 166 {"GETPARAM", 0x20, 1},
Davidroid 0:92706998571a 167 {"RUN", 0x50, 2},
Davidroid 0:92706998571a 168 {"STEPCLOCK", 0x58, 1},
Davidroid 0:92706998571a 169 {"MOVE", 0x40, 2},
Davidroid 0:92706998571a 170 {"GOTO", 0x60, 1},
Davidroid 0:92706998571a 171 {"GOTO_DIR", 0x68, 2},
Davidroid 0:92706998571a 172 {"GOUNTIL", 0x82, 3},
Davidroid 0:92706998571a 173 {"RELEASESW", 0x92, 2},
Davidroid 0:92706998571a 174 {"GOHOME", 0x70, 0},
Davidroid 0:92706998571a 175 {"GOMARK", 0x78, 0},
Davidroid 0:92706998571a 176 {"RESETPOS", 0xD8, 0},
Davidroid 0:92706998571a 177 {"RESETDEVICE", 0xC0, 0},
Davidroid 0:92706998571a 178 {"SOFTSTOP", 0xB0, 0},
Davidroid 0:92706998571a 179 {"HARDSTOP", 0xB8, 0},
Davidroid 0:92706998571a 180 {"SOFTHIZ", 0xA0, 0},
Davidroid 0:92706998571a 181 {"HARDHIZ", 0xA8, 0},
Davidroid 0:92706998571a 182 {"GETSTATUS", 0xD0, 0}
Davidroid 0:92706998571a 183 };
Davidroid 0:92706998571a 184
Davidroid 0:92706998571a 185 /**
Davidroid 0:92706998571a 186 * @brief The mnemonic names for the L6470 direction
Davidroid 0:92706998571a 187 */
Davidroid 0:92706998571a 188 const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
Davidroid 0:92706998571a 189 {"REV", 0x00}, //!< Reverse direction
Davidroid 0:92706998571a 190 {"FWD", 0x01} //!< Forward direction
Davidroid 0:92706998571a 191 };
Davidroid 0:92706998571a 192
Davidroid 0:92706998571a 193 /**
Davidroid 0:92706998571a 194 * @brief Action taken about ABS_POS register
Davidroid 0:92706998571a 195 */
Davidroid 0:92706998571a 196 const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
Davidroid 0:92706998571a 197 {"RST", 0x00}, //!< ABS_POS register is reset
Davidroid 0:92706998571a 198 {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register
Davidroid 0:92706998571a 199 };
Davidroid 0:92706998571a 200
Davidroid 0:92706998571a 201 /* End of L6470_Private_Constants */
Davidroid 0:92706998571a 202
Davidroid 0:92706998571a 203 /**
Davidroid 0:92706998571a 204 * @defgroup L6470_Private_Variables
Davidroid 0:92706998571a 205 * @brief L6470 Private Variables.
Davidroid 0:92706998571a 206 * @{
Davidroid 0:92706998571a 207 */
Davidroid 0:92706998571a 208
Davidroid 0:92706998571a 209 /* End of L6470_Private_Variables */
Davidroid 0:92706998571a 210
Davidroid 0:92706998571a 211
Davidroid 0:92706998571a 212 /**
Davidroid 0:92706998571a 213 * @addtogroup L6470_Private_Functions
Davidroid 0:92706998571a 214 * @{
Davidroid 0:92706998571a 215 */
Davidroid 0:92706998571a 216
Davidroid 0:92706998571a 217 /**
Davidroid 0:92706998571a 218 * @brief Reset the structure used to store the identifier of the L6470
Davidroid 0:92706998571a 219 * application command and its the needed parameters.
Davidroid 0:92706998571a 220 * @param pL6470_AppCmdPkg The structure to be reset.
Davidroid 0:92706998571a 221 */
Davidroid 0:92706998571a 222 void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
Davidroid 0:92706998571a 223 {
Davidroid 0:92706998571a 224 uint8_t id;
Davidroid 0:92706998571a 225
Davidroid 0:92706998571a 226 for(id=0; id<L6470DAISYCHAINSIZE; id++)
Davidroid 0:92706998571a 227 {
Davidroid 0:92706998571a 228 (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
Davidroid 0:92706998571a 229 (pL6470_AppCmdPkg+id)->p1=0;
Davidroid 0:92706998571a 230 (pL6470_AppCmdPkg+id)->p2=0;
Davidroid 0:92706998571a 231 (pL6470_AppCmdPkg+id)->p3=0;
Davidroid 0:92706998571a 232 }
Davidroid 0:92706998571a 233 }
Davidroid 0:92706998571a 234
Davidroid 0:92706998571a 235 /**
Davidroid 0:92706998571a 236 * @brief Fill the structure used to store the identifier of the L6470
Davidroid 0:92706998571a 237 * application command and its the needed parameters.
Davidroid 0:92706998571a 238 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 239 * @param pL6470_AppCmdPkg The structure to be filled.
Davidroid 0:92706998571a 240 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
Davidroid 0:92706998571a 241 * @param p1 The 1st parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 242 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 243 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 244 */
Davidroid 0:92706998571a 245 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 246 {
Davidroid 0:92706998571a 247 (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
Davidroid 0:92706998571a 248 (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
Davidroid 0:92706998571a 249 (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
Davidroid 0:92706998571a 250 (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
Davidroid 0:92706998571a 251 }
Davidroid 0:92706998571a 252
Davidroid 0:92706998571a 253 /**
Davidroid 0:92706998571a 254 * @brief This function will fill the column of the L6470_AppCmdPkg related
Davidroid 0:92706998571a 255 * the L6470 to be addressed inside the daisy chain.
Davidroid 0:92706998571a 256 *
Davidroid 0:92706998571a 257 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 258 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
Davidroid 0:92706998571a 259 * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
Davidroid 0:92706998571a 260 * @param p1 The 1st parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 261 * @param p2 The 2nd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 262 * @param p3 The 3rd parameter (if it is not needed it will be not considered).
Davidroid 0:92706998571a 263 */
Davidroid 0:92706998571a 264 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 265 {
Davidroid 0:92706998571a 266 if(!L6470_DaisyChain_HalfPrepared)
Davidroid 0:92706998571a 267 {
Davidroid 0:92706998571a 268 L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
Davidroid 0:92706998571a 269 L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
Davidroid 0:92706998571a 270 }
Davidroid 0:92706998571a 271
Davidroid 0:92706998571a 272 L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
Davidroid 0:92706998571a 273 }
Davidroid 0:92706998571a 274
Davidroid 0:92706998571a 275 /**
Davidroid 0:92706998571a 276 * @brief This function will translate the data inside the L6470_AppCmdPkg into
Davidroid 0:92706998571a 277 * the right data to be sent via SPI to the L6470 daisy chain.
Davidroid 0:92706998571a 278 *
Davidroid 0:92706998571a 279 * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
Davidroid 0:92706998571a 280 * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands.
Davidroid 0:92706998571a 281 */
Davidroid 0:92706998571a 282 void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
Davidroid 0:92706998571a 283 {
Davidroid 0:92706998571a 284 uint8_t PkgId;
Davidroid 0:92706998571a 285 uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
Davidroid 0:92706998571a 286 uint8_t spibyte;
Davidroid 0:92706998571a 287
Davidroid 0:92706998571a 288 /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
Davidroid 0:92706998571a 289 uint8_t i = 0;
Davidroid 0:92706998571a 290 for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
Davidroid 0:92706998571a 291 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
Davidroid 0:92706998571a 292 *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
Davidroid 0:92706998571a 293
Davidroid 0:92706998571a 294 for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
Davidroid 0:92706998571a 295 {
Davidroid 0:92706998571a 296 /* Build the 1st bytes to transmit with the binary code of the command */
Davidroid 0:92706998571a 297 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
Davidroid 0:92706998571a 298
Davidroid 0:92706998571a 299 /* Perform the related L6470_AppCmdId */
Davidroid 0:92706998571a 300 switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
Davidroid 0:92706998571a 301 {
Davidroid 0:92706998571a 302 case L6470_NOP_ID:
Davidroid 0:92706998571a 303 break;
Davidroid 0:92706998571a 304 case L6470_SETPARAM_ID:
Davidroid 0:92706998571a 305 /* Build the 1st bytes to transmit (PARAM) */
Davidroid 0:92706998571a 306 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
Davidroid 0:92706998571a 307
Davidroid 0:92706998571a 308 /* The length, in byte, of this register (PARAM) is... */
Davidroid 0:92706998571a 309 PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
Davidroid 0:92706998571a 310
Davidroid 0:92706998571a 311 /* Build the others bytes to transmit (VALUE) */
Davidroid 0:92706998571a 312 for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
Davidroid 0:92706998571a 313 {
Davidroid 0:92706998571a 314 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
Davidroid 0:92706998571a 315 }
Davidroid 0:92706998571a 316 break;
Davidroid 0:92706998571a 317 case L6470_GETPARAM_ID:
Davidroid 0:92706998571a 318 /* Build the 1st bytes to transmit (PARAM) */
Davidroid 0:92706998571a 319 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
Davidroid 0:92706998571a 320 break;
Davidroid 0:92706998571a 321 case L6470_RUN_ID:
Davidroid 0:92706998571a 322 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 323 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 324
Davidroid 0:92706998571a 325 /* Build the others bytes to transmit (SPD) */
Davidroid 0:92706998571a 326 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 327 {
Davidroid 0:92706998571a 328 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 329 }
Davidroid 0:92706998571a 330 break;
Davidroid 0:92706998571a 331 case L6470_STEPCLOCK_ID:
Davidroid 0:92706998571a 332 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 333 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 334 break;
Davidroid 0:92706998571a 335 case L6470_MOVE_ID:
Davidroid 0:92706998571a 336 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 337 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 338
Davidroid 0:92706998571a 339 /* Build the others bytes to transmit (N_STEP) */
Davidroid 0:92706998571a 340 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 341 {
Davidroid 0:92706998571a 342 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 343 }
Davidroid 0:92706998571a 344 break;
Davidroid 0:92706998571a 345 case L6470_GOTO_ID:
Davidroid 0:92706998571a 346 /* Build the others bytes to transmit (ABS_POS) */
Davidroid 0:92706998571a 347 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 348 {
Davidroid 0:92706998571a 349 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 350 }
Davidroid 0:92706998571a 351 break;
Davidroid 0:92706998571a 352 case L6470_GOTODIR_ID:
Davidroid 0:92706998571a 353 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 354 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
Davidroid 0:92706998571a 355
Davidroid 0:92706998571a 356 /* Build the others bytes to transmit (ABS_POS) */
Davidroid 0:92706998571a 357 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 358 {
Davidroid 0:92706998571a 359 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 360 }
Davidroid 0:92706998571a 361 break;
Davidroid 0:92706998571a 362 case L6470_GOUNTIL_ID:
Davidroid 0:92706998571a 363 /* Build the 1st bytes to transmit (ACT) */
Davidroid 0:92706998571a 364 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
Davidroid 0:92706998571a 365 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 366 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
Davidroid 0:92706998571a 367
Davidroid 0:92706998571a 368 /* Build the others bytes to transmit (SPD) */
Davidroid 0:92706998571a 369 for (spibyte=1; spibyte<(3+1); spibyte++)
Davidroid 0:92706998571a 370 {
Davidroid 0:92706998571a 371 *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
Davidroid 0:92706998571a 372 }
Davidroid 0:92706998571a 373 break;
Davidroid 0:92706998571a 374 case L6470_RELEASESW_ID:
Davidroid 0:92706998571a 375 /* Build the 1st bytes to transmit (ACT) */
Davidroid 0:92706998571a 376 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
Davidroid 0:92706998571a 377 /* Build the 1st bytes to transmit (DIR) */
Davidroid 0:92706998571a 378 *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
Davidroid 0:92706998571a 379 break;
Davidroid 0:92706998571a 380 case L6470_GOHOME_ID:
Davidroid 0:92706998571a 381 break;
Davidroid 0:92706998571a 382 case L6470_GOMARK_ID:
Davidroid 0:92706998571a 383 break;
Davidroid 0:92706998571a 384 case L6470_RESETPOS_ID:
Davidroid 0:92706998571a 385 break;
Davidroid 0:92706998571a 386 case L6470_RESETDEVICE_ID:
Davidroid 0:92706998571a 387 break;
Davidroid 0:92706998571a 388 case L6470_SOFTSTOP_ID:
Davidroid 0:92706998571a 389 break;
Davidroid 0:92706998571a 390 case L6470_HARDSTOP_ID:
Davidroid 0:92706998571a 391 break;
Davidroid 0:92706998571a 392 case L6470_SOFTHIZ_ID:
Davidroid 0:92706998571a 393 break;
Davidroid 0:92706998571a 394 case L6470_HARDHIZ_ID:
Davidroid 0:92706998571a 395 break;
Davidroid 0:92706998571a 396 case L6470_GETSTATUS_ID:
Davidroid 0:92706998571a 397 break;
Davidroid 0:92706998571a 398 }
Davidroid 0:92706998571a 399 }
Davidroid 0:92706998571a 400 }
Davidroid 0:92706998571a 401
Davidroid 0:92706998571a 402 /* End of L6470_Private_Functions */
Davidroid 0:92706998571a 403
Davidroid 0:92706998571a 404 /**
Davidroid 0:92706998571a 405 * @addtogroup L6470_Exported_Functions
Davidroid 0:92706998571a 406 * @{
Davidroid 0:92706998571a 407 */
Davidroid 0:92706998571a 408
Davidroid 0:92706998571a 409 /**
Davidroid 0:92706998571a 410 * @addtogroup L6470_Conversion_Functions
Davidroid 0:92706998571a 411 * @brief The following functions act just on one driver inside the L6470
Davidroid 0:92706998571a 412 * daisy chain. The command is immediately sent.
Davidroid 0:92706998571a 413 * @{
Davidroid 0:92706998571a 414 */
Davidroid 0:92706998571a 415
Davidroid 0:92706998571a 416 /**
Davidroid 0:92706998571a 417 * @brief Convert the absolute position as 2's complement format into the signed number.
Davidroid 0:92706998571a 418 *
Davidroid 0:92706998571a 419 * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
Davidroid 0:92706998571a 420 * @retval Position The position as signed number.
Davidroid 0:92706998571a 421 */
Davidroid 0:92706998571a 422 int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
Davidroid 0:92706998571a 423 {
Davidroid 0:92706998571a 424 if (AbsPos > L6470_MAX_POSITION)
Davidroid 0:92706998571a 425 return (AbsPos - (L6470_POSITION_RANGE + 1));
Davidroid 0:92706998571a 426 else
Davidroid 0:92706998571a 427 return AbsPos;
Davidroid 0:92706998571a 428 }
Davidroid 0:92706998571a 429
Davidroid 0:92706998571a 430 /**
Davidroid 0:92706998571a 431 * @brief Convert the position as signed number into absolute position as 2's complement format.
Davidroid 0:92706998571a 432 *
Davidroid 0:92706998571a 433 * @param Position The position as signed number.
Davidroid 0:92706998571a 434 * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
Davidroid 0:92706998571a 435 */
Davidroid 0:92706998571a 436 uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
Davidroid 0:92706998571a 437 {
Davidroid 0:92706998571a 438 if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
Davidroid 0:92706998571a 439 return Position;
Davidroid 0:92706998571a 440 else
Davidroid 0:92706998571a 441 {
Davidroid 0:92706998571a 442 if ((Position >= L6470_MIN_POSITION) && (Position < 0))
Davidroid 0:92706998571a 443 return (Position + (L6470_POSITION_RANGE + 1));
Davidroid 0:92706998571a 444 else
Davidroid 0:92706998571a 445 return (L6470_POSITION_RANGE + 1); // OVF
Davidroid 0:92706998571a 446 }
Davidroid 0:92706998571a 447 }
Davidroid 0:92706998571a 448
Davidroid 0:92706998571a 449 /**
Davidroid 0:92706998571a 450 * @brief Convert the SPEED register value into step/s.
Davidroid 0:92706998571a 451 *
Davidroid 0:92706998571a 452 * @param Speed The SPEED register value.
Davidroid 0:92706998571a 453 * @retval step/s The speed as step/s.
Davidroid 0:92706998571a 454 */
Davidroid 0:92706998571a 455 float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
Davidroid 0:92706998571a 456 {
Davidroid 0:92706998571a 457 return (Speed * ((float)14.9012e-3));
Davidroid 0:92706998571a 458 }
Davidroid 0:92706998571a 459
Davidroid 0:92706998571a 460 /**
Davidroid 0:92706998571a 461 * @brief Convert the speed as step/s into a right value for SPEED register.
Davidroid 0:92706998571a 462 *
Davidroid 0:92706998571a 463 * @param step/s The speed as step/s.
Davidroid 0:92706998571a 464 * @retval Speed The SPEED register value.
Davidroid 0:92706998571a 465 */
Davidroid 0:92706998571a 466 uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
Davidroid 0:92706998571a 467 {
Davidroid 0:92706998571a 468 if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
Davidroid 0:92706998571a 469 return (uint32_t)(Step_s / ((float)14.9012e-3));
Davidroid 0:92706998571a 470 else
Davidroid 0:92706998571a 471 return 0; // Warning
Davidroid 0:92706998571a 472 }
Davidroid 0:92706998571a 473
Davidroid 0:92706998571a 474 /**
Davidroid 0:92706998571a 475 * @brief Convert the ACC register value into step/(s^2).
Davidroid 0:92706998571a 476 *
Davidroid 0:92706998571a 477 * @param Acc The ACC register value.
Davidroid 0:92706998571a 478 * @retval step/(s^2) The acceleration as step/(s^2).
Davidroid 0:92706998571a 479 */
Davidroid 0:92706998571a 480 float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
Davidroid 0:92706998571a 481 {
Davidroid 0:92706998571a 482 if (Acc <= L6470_MAX_ACC)
Davidroid 0:92706998571a 483 return (Acc * ((float)1.4552e1));
Davidroid 0:92706998571a 484 else
Davidroid 0:92706998571a 485 return 0; // Warning
Davidroid 0:92706998571a 486 }
Davidroid 0:92706998571a 487
Davidroid 0:92706998571a 488 /**
Davidroid 0:92706998571a 489 * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register.
Davidroid 0:92706998571a 490 *
Davidroid 0:92706998571a 491 * @param step/(s^2) The acceleration as step/(s^2).
Davidroid 0:92706998571a 492 * @retval Acc The ACC register value.
Davidroid 0:92706998571a 493 */
Davidroid 0:92706998571a 494 uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
Davidroid 0:92706998571a 495 {
Davidroid 0:92706998571a 496 if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
Davidroid 0:92706998571a 497 return (uint16_t)(Step_s2 / ((float)1.4552e1));
Davidroid 0:92706998571a 498 else
Davidroid 0:92706998571a 499 return 0; // Warning
Davidroid 0:92706998571a 500 }
Davidroid 0:92706998571a 501
Davidroid 0:92706998571a 502 /**
Davidroid 0:92706998571a 503 * @brief Convert the DEC register value into step/(s^2).
Davidroid 0:92706998571a 504 *
Davidroid 0:92706998571a 505 * @param Dec The DEC register value.
Davidroid 0:92706998571a 506 * @retval step/(s^2) The deceleration as step/(s^2).
Davidroid 0:92706998571a 507 */
Davidroid 0:92706998571a 508 float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
Davidroid 0:92706998571a 509 {
Davidroid 0:92706998571a 510 if (Dec <= L6470_MAX_DEC)
Davidroid 0:92706998571a 511 return (Dec * ((float)1.4552e1));
Davidroid 0:92706998571a 512 else
Davidroid 0:92706998571a 513 return 0; // Warning
Davidroid 0:92706998571a 514 }
Davidroid 0:92706998571a 515
Davidroid 0:92706998571a 516 /**
Davidroid 0:92706998571a 517 * @brief Convert the deceleration as step/(s^2) into a right value for DEC register.
Davidroid 0:92706998571a 518 *
Davidroid 0:92706998571a 519 * @param step/(s^2) The deceleration as step/(s^2).
Davidroid 0:92706998571a 520 * @retval Dec The DEC register value.
Davidroid 0:92706998571a 521 */
Davidroid 0:92706998571a 522 uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
Davidroid 0:92706998571a 523 {
Davidroid 0:92706998571a 524 if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
Davidroid 0:92706998571a 525 return (uint16_t)(Step_s2 / ((float)1.4552e1));
Davidroid 0:92706998571a 526 else
Davidroid 0:92706998571a 527 return 0; // Warning
Davidroid 0:92706998571a 528 }
Davidroid 0:92706998571a 529
Davidroid 0:92706998571a 530 /**
Davidroid 0:92706998571a 531 * @brief Convert the MAX_SPEED register value into step/s.
Davidroid 0:92706998571a 532 *
Davidroid 0:92706998571a 533 * @param MaxSpeed The MAX_SPEED register value.
Davidroid 0:92706998571a 534 * @retval step/s The max speed as step/s.
Davidroid 0:92706998571a 535 */
Davidroid 0:92706998571a 536 float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
Davidroid 0:92706998571a 537 {
Davidroid 0:92706998571a 538 if (MaxSpeed <= L6470_MAX_MAX_SPEED)
Davidroid 0:92706998571a 539 return (MaxSpeed * ((float)15.2588));
Davidroid 0:92706998571a 540 else
Davidroid 0:92706998571a 541 return 0; // Warning
Davidroid 0:92706998571a 542 }
Davidroid 0:92706998571a 543
Davidroid 0:92706998571a 544 /**
Davidroid 0:92706998571a 545 * @brief Convert the max speed as step/s into a right value for MAX_SPEED register.
Davidroid 0:92706998571a 546 *
Davidroid 0:92706998571a 547 * @param step/s The max speed as step/s.
Davidroid 0:92706998571a 548 * @retval MaxSpeed The MAX_SPEED register value.
Davidroid 0:92706998571a 549 */
Davidroid 0:92706998571a 550 uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
Davidroid 0:92706998571a 551 {
Davidroid 0:92706998571a 552 if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
Davidroid 0:92706998571a 553 return (uint16_t)(Step_s / ((float)15.2588));
Davidroid 0:92706998571a 554 else
Davidroid 0:92706998571a 555 return 0; // Warning
Davidroid 0:92706998571a 556 }
Davidroid 0:92706998571a 557
Davidroid 0:92706998571a 558 /**
Davidroid 0:92706998571a 559 * @brief Convert the MIN_SPEED register value into step/s.
Davidroid 0:92706998571a 560 *
Davidroid 0:92706998571a 561 * @param MinSpeed The MIN_SPEED register value.
Davidroid 0:92706998571a 562 * @retval step/s The min speed as step/s.
Davidroid 0:92706998571a 563 */
Davidroid 0:92706998571a 564 float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
Davidroid 0:92706998571a 565 {
Davidroid 0:92706998571a 566 if (MinSpeed <= L6470_MAX_MIN_SPEED)
Davidroid 0:92706998571a 567 return (MinSpeed * ((float)238.4186e-3));
Davidroid 0:92706998571a 568 else
Davidroid 0:92706998571a 569 return 0; // Warning
Davidroid 0:92706998571a 570 }
Davidroid 0:92706998571a 571
Davidroid 0:92706998571a 572 /**
Davidroid 0:92706998571a 573 * @brief Convert the min speed as step/s into a right value for MIN_SPEED register.
Davidroid 0:92706998571a 574 *
Davidroid 0:92706998571a 575 * @param step/s The min speed as step/s.
Davidroid 0:92706998571a 576 * @retval MinSpeed The MIN_SPEED register value.
Davidroid 0:92706998571a 577 */
Davidroid 0:92706998571a 578 uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
Davidroid 0:92706998571a 579 {
Davidroid 0:92706998571a 580 if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
Davidroid 0:92706998571a 581 return (uint16_t)(Step_s / ((float)238.4186e-3));
Davidroid 0:92706998571a 582 else
Davidroid 0:92706998571a 583 return 0; // Warning
Davidroid 0:92706998571a 584 }
Davidroid 0:92706998571a 585
Davidroid 0:92706998571a 586 /**
Davidroid 0:92706998571a 587 * @brief Convert the FS_SPD register value into step/s.
Davidroid 0:92706998571a 588 *
Davidroid 0:92706998571a 589 * @param FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 590 * @retval step/s The full-step speed as step/s.
Davidroid 0:92706998571a 591 */
Davidroid 0:92706998571a 592 float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
Davidroid 0:92706998571a 593 {
Davidroid 0:92706998571a 594 if (FsSpd <= L6470_MAX_FS_SPD)
Davidroid 0:92706998571a 595 return ((FsSpd+0.5) * ((float)15.25));
Davidroid 0:92706998571a 596 else
Davidroid 0:92706998571a 597 return 0; // Warning
Davidroid 0:92706998571a 598 }
Davidroid 0:92706998571a 599
Davidroid 0:92706998571a 600 /**
Davidroid 0:92706998571a 601 * @brief Convert the full-step speed as step/s into a right value for FS_SPD register.
Davidroid 0:92706998571a 602 *
Davidroid 0:92706998571a 603 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 604 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 605 */
Davidroid 0:92706998571a 606 uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
Davidroid 0:92706998571a 607 {
Davidroid 0:92706998571a 608 if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
Davidroid 0:92706998571a 609 return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
Davidroid 0:92706998571a 610 else
Davidroid 0:92706998571a 611 return 0; // Warning
Davidroid 0:92706998571a 612 }
Davidroid 0:92706998571a 613
Davidroid 0:92706998571a 614 /**
Davidroid 0:92706998571a 615 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 616 *
Davidroid 0:92706998571a 617 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 618 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 619 */
Davidroid 0:92706998571a 620 float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
Davidroid 0:92706998571a 621 {
Davidroid 0:92706998571a 622 if (IntSpeed <= L6470_MAX_INT_SPEED)
Davidroid 0:92706998571a 623 return (IntSpeed * ((float)59.6046e-3));
Davidroid 0:92706998571a 624 else
Davidroid 0:92706998571a 625 return 0; // Warning
Davidroid 0:92706998571a 626 }
Davidroid 0:92706998571a 627
Davidroid 0:92706998571a 628 /**
Davidroid 0:92706998571a 629 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 630 *
Davidroid 0:92706998571a 631 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 632 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 633 */
Davidroid 0:92706998571a 634 uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
Davidroid 0:92706998571a 635 {
Davidroid 0:92706998571a 636 if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
Davidroid 0:92706998571a 637 return (uint16_t)(Step_s / ((float)59.6046e-3));
Davidroid 0:92706998571a 638 else
Davidroid 0:92706998571a 639 return 0; // Warning
Davidroid 0:92706998571a 640 }
Davidroid 0:92706998571a 641
Davidroid 0:92706998571a 642 /**
Davidroid 0:92706998571a 643 * @brief Convert the ST_SLP register value into s/step.
Davidroid 0:92706998571a 644 *
Davidroid 0:92706998571a 645 * @param StartSlope The ST_SLP register value.
Davidroid 0:92706998571a 646 * @retval s/step The start slope as s/step.
Davidroid 0:92706998571a 647 */
Davidroid 0:92706998571a 648 float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
Davidroid 0:92706998571a 649 {
Davidroid 0:92706998571a 650 // if (StSlp <= L6470_MAX_ST_SLP)
Davidroid 0:92706998571a 651 return (StSlp * ((float)1.5686e-5));
Davidroid 0:92706998571a 652 // else
Davidroid 0:92706998571a 653 // return 0; // Warning
Davidroid 0:92706998571a 654 }
Davidroid 0:92706998571a 655
Davidroid 0:92706998571a 656 /**
Davidroid 0:92706998571a 657 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 658 *
Davidroid 0:92706998571a 659 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 660 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 661 */
Davidroid 0:92706998571a 662 uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
Davidroid 0:92706998571a 663 {
Davidroid 0:92706998571a 664 if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
Davidroid 0:92706998571a 665 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 666 else
Davidroid 0:92706998571a 667 return 0; // Warning
Davidroid 0:92706998571a 668 }
Davidroid 0:92706998571a 669
Davidroid 0:92706998571a 670 /**
Davidroid 0:92706998571a 671 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 672 *
Davidroid 0:92706998571a 673 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 674 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 675 */
Davidroid 0:92706998571a 676 float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
Davidroid 0:92706998571a 677 {
Davidroid 0:92706998571a 678 // if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
Davidroid 0:92706998571a 679 return (FnSlpAcc * ((float)1.5686e-5));
Davidroid 0:92706998571a 680 // else
Davidroid 0:92706998571a 681 // return 0; // Warning
Davidroid 0:92706998571a 682 }
Davidroid 0:92706998571a 683
Davidroid 0:92706998571a 684 /**
Davidroid 0:92706998571a 685 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 686 *
Davidroid 0:92706998571a 687 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 688 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 689 */
Davidroid 0:92706998571a 690 uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
Davidroid 0:92706998571a 691 {
Davidroid 0:92706998571a 692 if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
Davidroid 0:92706998571a 693 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 694 else
Davidroid 0:92706998571a 695 return 0; // Warning
Davidroid 0:92706998571a 696 }
Davidroid 0:92706998571a 697
Davidroid 0:92706998571a 698 /**
Davidroid 0:92706998571a 699 * @brief Convert the INT_SPEED register value into step/s.
Davidroid 0:92706998571a 700 *
Davidroid 0:92706998571a 701 * @param IntSpeed The INT_SPEED register value.
Davidroid 0:92706998571a 702 * @retval step/s The intersect speed as step/s.
Davidroid 0:92706998571a 703 */
Davidroid 0:92706998571a 704 float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
Davidroid 0:92706998571a 705 {
Davidroid 0:92706998571a 706 // if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
Davidroid 0:92706998571a 707 return (FnSlpDec * ((float)1.5686e-5));
Davidroid 0:92706998571a 708 // else
Davidroid 0:92706998571a 709 // return 0; // Warning
Davidroid 0:92706998571a 710 }
Davidroid 0:92706998571a 711
Davidroid 0:92706998571a 712 /**
Davidroid 0:92706998571a 713 * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
Davidroid 0:92706998571a 714 *
Davidroid 0:92706998571a 715 * @param step/s The full-step speed as step/s.
Davidroid 0:92706998571a 716 * @retval FsSpd The FS_SPD register value.
Davidroid 0:92706998571a 717 */
Davidroid 0:92706998571a 718 uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
Davidroid 0:92706998571a 719 {
Davidroid 0:92706998571a 720 if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
Davidroid 0:92706998571a 721 return (uint8_t)(s_Step / ((float)1.5686e-5));
Davidroid 0:92706998571a 722 else
Davidroid 0:92706998571a 723 return 0; // Warning
Davidroid 0:92706998571a 724 }
Davidroid 0:92706998571a 725
Davidroid 0:92706998571a 726 /**
Davidroid 0:92706998571a 727 * @brief Convert the OCD_TH register value into mA.
Davidroid 0:92706998571a 728 *
Davidroid 0:92706998571a 729 * @param OcdTh The OCD_TH register value.
Davidroid 0:92706998571a 730 * @retval mA The overcurrent threshold as mA.
Davidroid 0:92706998571a 731 */
Davidroid 0:92706998571a 732 float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
Davidroid 0:92706998571a 733 {
Davidroid 0:92706998571a 734 if (OcdTh <= L6470_MAX_OCD_TH)
Davidroid 0:92706998571a 735 return ((OcdTh+1) * ((float)375));
Davidroid 0:92706998571a 736 else
Davidroid 0:92706998571a 737 return 0; // Warning
Davidroid 0:92706998571a 738 }
Davidroid 0:92706998571a 739
Davidroid 0:92706998571a 740 /**
Davidroid 0:92706998571a 741 * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register.
Davidroid 0:92706998571a 742 *
Davidroid 0:92706998571a 743 * @param mA The overcurrent threshold as mA.
Davidroid 0:92706998571a 744 * @retval OcdTh The OCD_TH register value.
Davidroid 0:92706998571a 745 */
Davidroid 0:92706998571a 746 uint8_t L6470::L6470_mA_2_OcdTh(float mA)
Davidroid 0:92706998571a 747 {
Davidroid 0:92706998571a 748 float result, decimal;
Davidroid 0:92706998571a 749
Davidroid 0:92706998571a 750 if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
Davidroid 0:92706998571a 751 {
Davidroid 0:92706998571a 752 result = (mA / ((float)375));
Davidroid 0:92706998571a 753 decimal = result - (uint8_t)result;
Davidroid 0:92706998571a 754
Davidroid 0:92706998571a 755 if (decimal < (float)0.5)
Davidroid 0:92706998571a 756 return ((uint8_t)result - 1);
Davidroid 0:92706998571a 757 else
Davidroid 0:92706998571a 758 return ((uint8_t)result);
Davidroid 0:92706998571a 759 }
Davidroid 0:92706998571a 760 else
Davidroid 0:92706998571a 761 return 0; // Warning
Davidroid 0:92706998571a 762 }
Davidroid 0:92706998571a 763
Davidroid 0:92706998571a 764 /**
Davidroid 0:92706998571a 765 * @brief Convert the STALL_TH register value into mA.
Davidroid 0:92706998571a 766 *
Davidroid 0:92706998571a 767 * @param StallTh The STALL_TH register value.
Davidroid 0:92706998571a 768 * @retval mA The stall detection threshold as mA.
Davidroid 0:92706998571a 769 */
Davidroid 0:92706998571a 770 float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
Davidroid 0:92706998571a 771 {
Davidroid 0:92706998571a 772 if (StallTh <= L6470_MAX_STALL_TH)
Davidroid 0:92706998571a 773 return ((StallTh+1) * ((float)31.25));
Davidroid 0:92706998571a 774 else
Davidroid 0:92706998571a 775 return 0; // Warning
Davidroid 0:92706998571a 776 }
Davidroid 0:92706998571a 777
Davidroid 0:92706998571a 778 /**
Davidroid 0:92706998571a 779 * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register.
Davidroid 0:92706998571a 780 *
Davidroid 0:92706998571a 781 * @param mA The stall detection threshold as mA.
Davidroid 0:92706998571a 782 * @retval StallTh The STALL_TH register value.
Davidroid 0:92706998571a 783 */
Davidroid 0:92706998571a 784 uint8_t L6470::L6470_mA_2_StallTh(float mA)
Davidroid 0:92706998571a 785 {
Davidroid 0:92706998571a 786 float result, decimal;
Davidroid 0:92706998571a 787
Davidroid 0:92706998571a 788 if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
Davidroid 0:92706998571a 789 {
Davidroid 0:92706998571a 790 result = (mA / ((float)31.25));
Davidroid 0:92706998571a 791 decimal = result - (uint8_t)result;
Davidroid 0:92706998571a 792
Davidroid 0:92706998571a 793 if (decimal < (float)0.5)
Davidroid 0:92706998571a 794 return ((uint8_t)result - 1);
Davidroid 0:92706998571a 795 else
Davidroid 0:92706998571a 796 return ((uint8_t)result);
Davidroid 0:92706998571a 797 }
Davidroid 0:92706998571a 798 else
Davidroid 0:92706998571a 799 return 0; // Warning
Davidroid 0:92706998571a 800 }
Davidroid 0:92706998571a 801
Davidroid 0:92706998571a 802 /* End of L6470_Conversion_Functions */
Davidroid 0:92706998571a 803
Davidroid 0:92706998571a 804 /**
Davidroid 0:92706998571a 805 * @addtogroup L6470_AppCMDs
Davidroid 0:92706998571a 806 * @{
Davidroid 0:92706998571a 807 */
Davidroid 0:92706998571a 808
Davidroid 0:92706998571a 809 /**
Davidroid 0:92706998571a 810 * @brief SetParam command sets the register value equal to a new value.
Davidroid 0:92706998571a 811 *
Davidroid 0:92706998571a 812 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 813 * @param Value The new value.
Davidroid 0:92706998571a 814 */
Davidroid 0:92706998571a 815 void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
Davidroid 0:92706998571a 816 {
Davidroid 0:92706998571a 817 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
Davidroid 0:92706998571a 818 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 819 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 820 }
Davidroid 0:92706998571a 821
Davidroid 0:92706998571a 822 /**
Davidroid 0:92706998571a 823 * @brief GetParam command reads the register value.
Davidroid 0:92706998571a 824 *
Davidroid 0:92706998571a 825 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 826 *
Davidroid 0:92706998571a 827 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 828 */
Davidroid 0:92706998571a 829 uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
Davidroid 0:92706998571a 830 {
Davidroid 0:92706998571a 831 uint8_t ValueLengthByte;
Davidroid 0:92706998571a 832 uint32_t ReceivedValue;
Davidroid 0:92706998571a 833
Davidroid 0:92706998571a 834 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
Davidroid 0:92706998571a 835 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 836 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 837
Davidroid 0:92706998571a 838 ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
Davidroid 0:92706998571a 839
Davidroid 0:92706998571a 840 ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
Davidroid 0:92706998571a 841
Davidroid 0:92706998571a 842 return ReceivedValue;
Davidroid 0:92706998571a 843 }
Davidroid 0:92706998571a 844
Davidroid 0:92706998571a 845 /**
Davidroid 0:92706998571a 846 * @brief Run command produces a motion at fixed speed.
Davidroid 0:92706998571a 847 *
Davidroid 0:92706998571a 848 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 849 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 850 */
Davidroid 0:92706998571a 851 void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 852 {
Davidroid 0:92706998571a 853 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
Davidroid 0:92706998571a 854 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 855 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 856 }
Davidroid 0:92706998571a 857
Davidroid 0:92706998571a 858 /**
Davidroid 0:92706998571a 859 * @brief StepClock command switches the device in Step-clock mode.
Davidroid 0:92706998571a 860 *
Davidroid 0:92706998571a 861 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 862 */
Davidroid 0:92706998571a 863 void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 864 {
Davidroid 0:92706998571a 865 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
Davidroid 0:92706998571a 866 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 867 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 868 }
Davidroid 0:92706998571a 869
Davidroid 0:92706998571a 870 /**
Davidroid 0:92706998571a 871 * @brief Move command produces a motion of N_STEP microsteps.
Davidroid 0:92706998571a 872 *
Davidroid 0:92706998571a 873 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 874 * @param N_Step The number of microsteps.
Davidroid 0:92706998571a 875 */
Davidroid 0:92706998571a 876 void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
Davidroid 0:92706998571a 877 {
Davidroid 0:92706998571a 878 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
Davidroid 0:92706998571a 879 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 880 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 881 }
Davidroid 0:92706998571a 882
Davidroid 0:92706998571a 883 /**
Davidroid 0:92706998571a 884 * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path.
Davidroid 0:92706998571a 885 *
Davidroid 0:92706998571a 886 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 887 */
Davidroid 0:92706998571a 888 void L6470::L6470_GoTo(uint32_t AbsPos)
Davidroid 0:92706998571a 889 {
Davidroid 0:92706998571a 890 if (AbsPos <= L6470_POSITION_RANGE)
Davidroid 0:92706998571a 891 {
Davidroid 0:92706998571a 892 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
Davidroid 0:92706998571a 893 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 894 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 895 }
Davidroid 0:92706998571a 896 }
Davidroid 0:92706998571a 897
Davidroid 0:92706998571a 898 /**
Davidroid 0:92706998571a 899 * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
Davidroid 0:92706998571a 900 *
Davidroid 0:92706998571a 901 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 902 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 903 */
Davidroid 0:92706998571a 904 void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
Davidroid 0:92706998571a 905 {
Davidroid 0:92706998571a 906 if (AbsPos <= L6470_POSITION_RANGE)
Davidroid 0:92706998571a 907 {
Davidroid 0:92706998571a 908 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
Davidroid 0:92706998571a 909 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 910 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 911 }
Davidroid 0:92706998571a 912 }
Davidroid 0:92706998571a 913
Davidroid 0:92706998571a 914 /**
Davidroid 0:92706998571a 915 * @brief GoUntil command produces a motion at fixed speed imposing a direction
Davidroid 0:92706998571a 916 * until an external switch turn-on event occurs.
Davidroid 0:92706998571a 917 *
Davidroid 0:92706998571a 918 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 919 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 920 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 921 */
Davidroid 0:92706998571a 922 void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 923 {
Davidroid 0:92706998571a 924 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
Davidroid 0:92706998571a 925 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 926 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 927 }
Davidroid 0:92706998571a 928
Davidroid 0:92706998571a 929 /**
Davidroid 0:92706998571a 930 * @brief ReleaseSW command produces a motion at minimum speed imposing a direction
Davidroid 0:92706998571a 931 * until SW is released.
Davidroid 0:92706998571a 932 *
Davidroid 0:92706998571a 933 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 934 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 935 */
Davidroid 0:92706998571a 936 void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 937 {
Davidroid 0:92706998571a 938 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
Davidroid 0:92706998571a 939 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 940 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 941 }
Davidroid 0:92706998571a 942
Davidroid 0:92706998571a 943 /**
Davidroid 0:92706998571a 944 * @brief GoHome command produces a motion to the HOME position (zero position)
Davidroid 0:92706998571a 945 * via the shortest path.
Davidroid 0:92706998571a 946 *
Davidroid 0:92706998571a 947 */
Davidroid 0:92706998571a 948 void L6470::L6470_GoHome(void)
Davidroid 0:92706998571a 949 {
Davidroid 0:92706998571a 950 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
Davidroid 0:92706998571a 951 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 952 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 953 }
Davidroid 0:92706998571a 954
Davidroid 0:92706998571a 955 /**
Davidroid 0:92706998571a 956 * @brief GoMark command produces a motion to the MARK position performing the
Davidroid 0:92706998571a 957 * minimum path.
Davidroid 0:92706998571a 958 *
Davidroid 0:92706998571a 959 */
Davidroid 0:92706998571a 960 void L6470::L6470_GoMark(void)
Davidroid 0:92706998571a 961 {
Davidroid 0:92706998571a 962 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
Davidroid 0:92706998571a 963 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 964 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 965 }
Davidroid 0:92706998571a 966
Davidroid 0:92706998571a 967 /**
Davidroid 0:92706998571a 968 * @brief ResetPos command resets the ABS_POS register to zero.
Davidroid 0:92706998571a 969 *
Davidroid 0:92706998571a 970 */
Davidroid 0:92706998571a 971 void L6470::L6470_ResetPos(void)
Davidroid 0:92706998571a 972 {
Davidroid 0:92706998571a 973 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
Davidroid 0:92706998571a 974 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 975 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 976 }
Davidroid 0:92706998571a 977
Davidroid 0:92706998571a 978 /**
Davidroid 0:92706998571a 979 * @brief ResetDevice command resets the device to power-up conditions.
Davidroid 0:92706998571a 980 *
Davidroid 0:92706998571a 981 */
Davidroid 0:92706998571a 982 void L6470::L6470_ResetDevice(void)
Davidroid 0:92706998571a 983 {
Davidroid 0:92706998571a 984 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
Davidroid 0:92706998571a 985 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 986 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 987 }
Davidroid 0:92706998571a 988
Davidroid 0:92706998571a 989 /**
Davidroid 0:92706998571a 990 * @brief SoftStop command causes an immediate deceleration to zero speed and
Davidroid 0:92706998571a 991 * a consequent motor stop; the deceleration value used is the one stored
Davidroid 0:92706998571a 992 * in the DEC register.
Davidroid 0:92706998571a 993 *
Davidroid 0:92706998571a 994 */
Davidroid 0:92706998571a 995 void L6470::L6470_SoftStop(void)
Davidroid 0:92706998571a 996 {
Davidroid 0:92706998571a 997 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 998 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 999 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1000 }
Davidroid 0:92706998571a 1001
Davidroid 0:92706998571a 1002 /**
Davidroid 0:92706998571a 1003 * @brief HardStop command causes an immediate motor stop with infinite deceleration.
Davidroid 0:92706998571a 1004 *
Davidroid 0:92706998571a 1005 */
Davidroid 0:92706998571a 1006 void L6470::L6470_HardStop(void)
Davidroid 0:92706998571a 1007 {
Davidroid 0:92706998571a 1008 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 1009 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1010 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1011 }
Davidroid 0:92706998571a 1012
Davidroid 0:92706998571a 1013 /**
Davidroid 0:92706998571a 1014 * @brief SoftHiZ command disables the power bridges (high impedance state)
Davidroid 0:92706998571a 1015 * after a deceleration to zero; the deceleration value used is the one
Davidroid 0:92706998571a 1016 * stored in the DEC register.
Davidroid 0:92706998571a 1017 *
Davidroid 0:92706998571a 1018 */
Davidroid 0:92706998571a 1019 void L6470::L6470_SoftHiZ(void)
Davidroid 0:92706998571a 1020 {
Davidroid 0:92706998571a 1021 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1022 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1023 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1024 }
Davidroid 0:92706998571a 1025
Davidroid 0:92706998571a 1026 /**
Davidroid 0:92706998571a 1027 * @brief HardHiZ command immediately disables the power bridges (high impedance state).
Davidroid 0:92706998571a 1028 *
Davidroid 0:92706998571a 1029 */
Davidroid 0:92706998571a 1030 void L6470::L6470_HardHiZ(void)
Davidroid 0:92706998571a 1031 {
Davidroid 0:92706998571a 1032 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1033 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1034 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1035 }
Davidroid 0:92706998571a 1036
Davidroid 0:92706998571a 1037 /**
Davidroid 0:92706998571a 1038 * @brief GetStatus command returns the STATUS register value.
Davidroid 0:92706998571a 1039 *
Davidroid 0:92706998571a 1040 *
Davidroid 0:92706998571a 1041 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 1042 */
Davidroid 0:92706998571a 1043 uint16_t L6470::L6470_GetStatus(void)
Davidroid 0:92706998571a 1044 {
Davidroid 0:92706998571a 1045 uint16_t ReceivedValue;
Davidroid 0:92706998571a 1046
Davidroid 0:92706998571a 1047 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
Davidroid 0:92706998571a 1048 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1049 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1050
Davidroid 0:92706998571a 1051 ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
Davidroid 0:92706998571a 1052
Davidroid 0:92706998571a 1053 return ReceivedValue;
Davidroid 0:92706998571a 1054 }
Davidroid 0:92706998571a 1055
Davidroid 0:92706998571a 1056 /* End of L6470_AppCMDs */
Davidroid 0:92706998571a 1057
Davidroid 0:92706998571a 1058 /**
Davidroid 0:92706998571a 1059 * @addtogroup L6470_AppCMDs_ToBePrepared
Davidroid 0:92706998571a 1060 * @{
Davidroid 0:92706998571a 1061 */
Davidroid 0:92706998571a 1062
Davidroid 0:92706998571a 1063 /**
Davidroid 0:92706998571a 1064 * @brief Prepare to send @ref L6470_SetParam command.
Davidroid 0:92706998571a 1065 *
Davidroid 0:92706998571a 1066 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 1067 * @param Value The new value.
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_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
Davidroid 0:92706998571a 1073 {
Davidroid 1:b78dab6d2c58 1074 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
Davidroid 0:92706998571a 1075 }
Davidroid 0:92706998571a 1076
Davidroid 0:92706998571a 1077 /**
Davidroid 0:92706998571a 1078 * @brief Prepare to send @ref L6470_GetParam command.
Davidroid 0:92706998571a 1079 *
Davidroid 0:92706998571a 1080 * @param L6470_Id The L6470 identifier inside the daisy chain.
Davidroid 0:92706998571a 1081 * @param L6470_RegId The identifier of the L6470 register to be addressed.
Davidroid 0:92706998571a 1082 *
Davidroid 0:92706998571a 1083 * @retval ReceivedValue The register value.
Davidroid 0:92706998571a 1084 *
Davidroid 0:92706998571a 1085 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1086 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1087 */
Davidroid 0:92706998571a 1088 void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
Davidroid 0:92706998571a 1089 {
Davidroid 1:b78dab6d2c58 1090 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
Davidroid 0:92706998571a 1091 }
Davidroid 0:92706998571a 1092
Davidroid 0:92706998571a 1093 /**
Davidroid 0:92706998571a 1094 * @brief Prepare to send @ref L6470_Run command.
Davidroid 0:92706998571a 1095 *
Davidroid 0:92706998571a 1096 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1097 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 1098 *
Davidroid 0:92706998571a 1099 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1100 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1101 */
Davidroid 0:92706998571a 1102 void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 1103 {
Davidroid 0:92706998571a 1104 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
Davidroid 0:92706998571a 1105 }
Davidroid 0:92706998571a 1106
Davidroid 0:92706998571a 1107 /**
Davidroid 0:92706998571a 1108 * @brief Prepare to send @ref L6470_StepClock command.
Davidroid 0:92706998571a 1109 *
Davidroid 0:92706998571a 1110 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1111 *
Davidroid 0:92706998571a 1112 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1113 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1114 */
Davidroid 0:92706998571a 1115 void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 1116 {
Davidroid 0:92706998571a 1117 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
Davidroid 0:92706998571a 1118 }
Davidroid 0:92706998571a 1119
Davidroid 0:92706998571a 1120 /**
Davidroid 0:92706998571a 1121 * @brief Prepare to send @ref L6470_Move command.
Davidroid 0:92706998571a 1122 *
Davidroid 0:92706998571a 1123 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1124 * @param N_Step The number of microsteps.
Davidroid 0:92706998571a 1125 *
Davidroid 0:92706998571a 1126 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1127 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1128 */
Davidroid 0:92706998571a 1129 void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
Davidroid 0:92706998571a 1130 {
Davidroid 0:92706998571a 1131 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
Davidroid 0:92706998571a 1132 }
Davidroid 0:92706998571a 1133
Davidroid 0:92706998571a 1134 /**
Davidroid 0:92706998571a 1135 * @brief Prepare to send @ref L6470_GoTo command.
Davidroid 0:92706998571a 1136 *
Davidroid 0:92706998571a 1137 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 1138 *
Davidroid 0:92706998571a 1139 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1140 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1141 */
Davidroid 0:92706998571a 1142 void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
Davidroid 0:92706998571a 1143 {
Davidroid 0:92706998571a 1144 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
Davidroid 0:92706998571a 1145 }
Davidroid 0:92706998571a 1146
Davidroid 0:92706998571a 1147 /**
Davidroid 0:92706998571a 1148 * @brief Prepare to send @ref L6470_GoToDIR command.
Davidroid 0:92706998571a 1149 *
Davidroid 0:92706998571a 1150 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1151 * @param AbsPos The target absolute position.
Davidroid 0:92706998571a 1152 *
Davidroid 0:92706998571a 1153 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1154 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1155 */
Davidroid 0:92706998571a 1156 void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
Davidroid 0:92706998571a 1157 {
Davidroid 0:92706998571a 1158 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
Davidroid 0:92706998571a 1159 }
Davidroid 0:92706998571a 1160
Davidroid 0:92706998571a 1161 /**
Davidroid 0:92706998571a 1162 * @brief Prepare to send @ref L6470_GoUntil command.
Davidroid 0:92706998571a 1163 *
Davidroid 0:92706998571a 1164 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 1165 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1166 * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
Davidroid 0:92706998571a 1167 *
Davidroid 0:92706998571a 1168 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1169 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1170 */
Davidroid 0:92706998571a 1171 void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
Davidroid 0:92706998571a 1172 {
Davidroid 0:92706998571a 1173 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
Davidroid 0:92706998571a 1174 }
Davidroid 0:92706998571a 1175
Davidroid 0:92706998571a 1176 /**
Davidroid 0:92706998571a 1177 * @brief Prepare to send @ref L6470_ReleaseSW.
Davidroid 0:92706998571a 1178 *
Davidroid 0:92706998571a 1179 * @param L6470_ActId The identifier of the L6470 action about the absolute position.
Davidroid 0:92706998571a 1180 * @param L6470_DirId The identifier of the L6470 motion direction.
Davidroid 0:92706998571a 1181 *
Davidroid 0:92706998571a 1182 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1183 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1184 */
Davidroid 0:92706998571a 1185 void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
Davidroid 0:92706998571a 1186 {
Davidroid 0:92706998571a 1187 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
Davidroid 0:92706998571a 1188 }
Davidroid 0:92706998571a 1189
Davidroid 0:92706998571a 1190 /**
Davidroid 0:92706998571a 1191 * @brief Prepare to send @ref L6470_GoHome command.
Davidroid 0:92706998571a 1192 *
Davidroid 0:92706998571a 1193 *
Davidroid 0:92706998571a 1194 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1195 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1196 */
Davidroid 0:92706998571a 1197 void L6470::L6470_PrepareGoHome(void)
Davidroid 0:92706998571a 1198 {
Davidroid 0:92706998571a 1199 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
Davidroid 0:92706998571a 1200 }
Davidroid 0:92706998571a 1201
Davidroid 0:92706998571a 1202 /**
Davidroid 0:92706998571a 1203 * @brief Prepare to send @ref L6470_GoMark command.
Davidroid 0:92706998571a 1204 *
Davidroid 0:92706998571a 1205 *
Davidroid 0:92706998571a 1206 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1207 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1208 */
Davidroid 0:92706998571a 1209 void L6470::L6470_PrepareGoMark(void)
Davidroid 0:92706998571a 1210 {
Davidroid 0:92706998571a 1211 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
Davidroid 0:92706998571a 1212 }
Davidroid 0:92706998571a 1213
Davidroid 0:92706998571a 1214 /**
Davidroid 0:92706998571a 1215 * @brief Prepare to send @ref L6470_ResetPos command.
Davidroid 0:92706998571a 1216 *
Davidroid 0:92706998571a 1217 *
Davidroid 0:92706998571a 1218 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1219 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1220 */
Davidroid 0:92706998571a 1221 void L6470::L6470_PrepareResetPos(void)
Davidroid 0:92706998571a 1222 {
Davidroid 0:92706998571a 1223 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
Davidroid 0:92706998571a 1224 }
Davidroid 0:92706998571a 1225
Davidroid 0:92706998571a 1226 /**
Davidroid 0:92706998571a 1227 * @brief Prepare to send @ref L6470_ResetDevice command.
Davidroid 0:92706998571a 1228 *
Davidroid 0:92706998571a 1229 *
Davidroid 0:92706998571a 1230 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1231 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1232 */
Davidroid 0:92706998571a 1233 void L6470::L6470_PrepareResetDevice(void)
Davidroid 0:92706998571a 1234 {
Davidroid 0:92706998571a 1235 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
Davidroid 0:92706998571a 1236 }
Davidroid 0:92706998571a 1237
Davidroid 0:92706998571a 1238 /**
Davidroid 0:92706998571a 1239 * @brief Prepare to send @ref L6470_SoftStop command.
Davidroid 0:92706998571a 1240 *
Davidroid 0:92706998571a 1241 *
Davidroid 0:92706998571a 1242 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1243 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1244 */
Davidroid 0:92706998571a 1245 void L6470::L6470_PrepareSoftStop(void)
Davidroid 0:92706998571a 1246 {
Davidroid 0:92706998571a 1247 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 1248 }
Davidroid 0:92706998571a 1249
Davidroid 0:92706998571a 1250 /**
Davidroid 0:92706998571a 1251 * @brief Prepare to send @ref L6470_HardStop command.
Davidroid 0:92706998571a 1252 *
Davidroid 0:92706998571a 1253 *
Davidroid 0:92706998571a 1254 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1255 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1256 */
Davidroid 0:92706998571a 1257 void L6470::L6470_PrepareHardStop(void)
Davidroid 0:92706998571a 1258 {
Davidroid 0:92706998571a 1259 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
Davidroid 0:92706998571a 1260 }
Davidroid 0:92706998571a 1261
Davidroid 0:92706998571a 1262 /**
Davidroid 0:92706998571a 1263 * @brief Prepare to send @ref L6470_SoftHiZ command.
Davidroid 0:92706998571a 1264 *
Davidroid 0:92706998571a 1265 *
Davidroid 0:92706998571a 1266 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1267 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1268 */
Davidroid 0:92706998571a 1269 void L6470::L6470_PrepareSoftHiZ(void)
Davidroid 0:92706998571a 1270 {
Davidroid 0:92706998571a 1271 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1272 }
Davidroid 0:92706998571a 1273
Davidroid 0:92706998571a 1274 /**
Davidroid 0:92706998571a 1275 * @brief Prepare to send @ref L6470_HardHiZ command.
Davidroid 0:92706998571a 1276 *
Davidroid 0:92706998571a 1277 *
Davidroid 0:92706998571a 1278 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1279 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1280 */
Davidroid 0:92706998571a 1281 void L6470::L6470_PrepareHardHiZ(void)
Davidroid 0:92706998571a 1282 {
Davidroid 0:92706998571a 1283 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
Davidroid 0:92706998571a 1284 }
Davidroid 0:92706998571a 1285
Davidroid 0:92706998571a 1286 /**
Davidroid 0:92706998571a 1287 * @brief Prepare to send @ref L6470_GetStatus command.
Davidroid 0:92706998571a 1288 *
Davidroid 0:92706998571a 1289 *
Davidroid 0:92706998571a 1290 * @note This function will properly fill the right column of the L6470_AppCmdPkg.
Davidroid 0:92706998571a 1291 * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
Davidroid 0:92706998571a 1292 */
Davidroid 0:92706998571a 1293 void L6470::L6470_PrepareGetStatus(void)
Davidroid 0:92706998571a 1294 {
Davidroid 0:92706998571a 1295 L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
Davidroid 0:92706998571a 1296 }
Davidroid 0:92706998571a 1297
Davidroid 0:92706998571a 1298 /* End of L6470_AppCMDs_ToBePrepared */
Davidroid 0:92706998571a 1299
Davidroid 0:92706998571a 1300 /**
Davidroid 0:92706998571a 1301 * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the
Davidroid 0:92706998571a 1302 * L6470 daisy chain.
Davidroid 0:92706998571a 1303 *
Davidroid 0:92706998571a 1304 * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure
Davidroid 0:92706998571a 1305 * containing returned values from each L6470 of the daisy chain for each
Davidroid 0:92706998571a 1306 * sent SPI data.
Davidroid 0:92706998571a 1307 */
Davidroid 0:92706998571a 1308 uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
Davidroid 0:92706998571a 1309 {
Davidroid 0:92706998571a 1310 L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
Davidroid 0:92706998571a 1311 L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1312
Davidroid 0:92706998571a 1313 return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
Davidroid 0:92706998571a 1314 }
Davidroid 0:92706998571a 1315
Davidroid 0:92706998571a 1316 /**
Davidroid 0:92706998571a 1317 * @brief Send command to the L6470 daisy chain via SPI
Davidroid 0:92706998571a 1318 * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470
Davidroid 0:92706998571a 1319 * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470
Davidroid 0:92706998571a 1320 */
Davidroid 0:92706998571a 1321 void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
Davidroid 0:92706998571a 1322 {
Davidroid 0:92706998571a 1323 uint8_t spibyte;
Davidroid 0:92706998571a 1324
Davidroid 0:92706998571a 1325 L6470_DaisyChain_HalfPrepared = ZERO_F;
Davidroid 0:92706998571a 1326
Davidroid 0:92706998571a 1327 /* Send all command bytes via SPI */
Davidroid 0:92706998571a 1328 for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
Davidroid 0:92706998571a 1329 {
Davidroid 0:92706998571a 1330 /* Send the command via SPI */
Davidroid 0:92706998571a 1331 L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
Davidroid 0:92706998571a 1332
Davidroid 0:92706998571a 1333 //_DELAY(TDISCS);
Davidroid 0:92706998571a 1334 uint8_t delay_cnt;
Davidroid 0:92706998571a 1335 for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS
Davidroid 0:92706998571a 1336 }
Davidroid 0:92706998571a 1337 }
Davidroid 0:92706998571a 1338
Davidroid 0:92706998571a 1339 /**
Davidroid 0:92706998571a 1340 * @brief Extracts the data returned by the L6470 from the matrix that
Davidroid 0:92706998571a 1341 * contains the received SPI data.
Davidroid 0:92706998571a 1342 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 1343 * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that
Davidroid 0:92706998571a 1344 * contains the received data by SPI from the L6470 daisy chain.
Davidroid 0:92706998571a 1345 * @param LengthByte The number of bytes about the received value.
Davidroid 0:92706998571a 1346 */
Davidroid 0:92706998571a 1347 uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
Davidroid 0:92706998571a 1348 {
Davidroid 0:92706998571a 1349 uint32_t value;
Davidroid 0:92706998571a 1350 uint8_t i;
Davidroid 0:92706998571a 1351
Davidroid 0:92706998571a 1352 value = 0x000000;
Davidroid 0:92706998571a 1353 for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
Davidroid 0:92706998571a 1354 {
Davidroid 0:92706998571a 1355 value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
Davidroid 0:92706998571a 1356 }
Davidroid 1:b78dab6d2c58 1357
Davidroid 0:92706998571a 1358 return value;
Davidroid 0:92706998571a 1359 }
Davidroid 0:92706998571a 1360
Davidroid 0:92706998571a 1361 /**
Davidroid 0:92706998571a 1362 * @brief Check the state of a flag inside the L6470 STATUS register.
Davidroid 0:92706998571a 1363 *
Davidroid 0:92706998571a 1364 * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
Davidroid 0:92706998571a 1365 * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked.
Davidroid 0:92706998571a 1366 *
Davidroid 0:92706998571a 1367 * @retval state The flag state.
Davidroid 0:92706998571a 1368 */
Davidroid 0:92706998571a 1369
Davidroid 0:92706998571a 1370 uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
Davidroid 0:92706998571a 1371 {
Davidroid 0:92706998571a 1372 uint8_t state = 0;
Davidroid 0:92706998571a 1373
Davidroid 0:92706998571a 1374 *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
Davidroid 0:92706998571a 1375
Davidroid 0:92706998571a 1376 switch(L6470_StatusRegisterFlagId)
Davidroid 0:92706998571a 1377 {
Davidroid 0:92706998571a 1378 case HiZ_ID:
Davidroid 0:92706998571a 1379 state = pL6470_StatusRegister->HiZ;
Davidroid 0:92706998571a 1380 break;
Davidroid 0:92706998571a 1381 case BUSY_ID:
Davidroid 0:92706998571a 1382 state = pL6470_StatusRegister->BUSY;
Davidroid 0:92706998571a 1383 break;
Davidroid 0:92706998571a 1384 case SW_F_ID:
Davidroid 0:92706998571a 1385 state = pL6470_StatusRegister->SW_F;
Davidroid 0:92706998571a 1386 break;
Davidroid 0:92706998571a 1387 case SW_EVN_ID:
Davidroid 0:92706998571a 1388 state = pL6470_StatusRegister->SW_EVN;
Davidroid 0:92706998571a 1389 break;
Davidroid 0:92706998571a 1390 case DIR_ID:
Davidroid 0:92706998571a 1391 state = pL6470_StatusRegister->DIR;
Davidroid 0:92706998571a 1392 break;
Davidroid 0:92706998571a 1393 case MOT_STATUS_ID:
Davidroid 0:92706998571a 1394 state = pL6470_StatusRegister->MOT_STATUS;
Davidroid 0:92706998571a 1395 break;
Davidroid 0:92706998571a 1396 case NOTPERF_CMD_ID:
Davidroid 0:92706998571a 1397 state = pL6470_StatusRegister->NOTPERF_CMD;
Davidroid 0:92706998571a 1398 break;
Davidroid 0:92706998571a 1399 case WRONG_CMD_ID:
Davidroid 0:92706998571a 1400 state = pL6470_StatusRegister->WRONG_CMD;
Davidroid 0:92706998571a 1401 break;
Davidroid 0:92706998571a 1402 case UVLO_ID:
Davidroid 0:92706998571a 1403 state = pL6470_StatusRegister->UVLO;
Davidroid 0:92706998571a 1404 break;
Davidroid 0:92706998571a 1405 case TH_WRN_ID:
Davidroid 0:92706998571a 1406 state = pL6470_StatusRegister->TH_WRN;
Davidroid 0:92706998571a 1407 break;
Davidroid 0:92706998571a 1408 case TH_SD_ID:
Davidroid 0:92706998571a 1409 state = pL6470_StatusRegister->TH_SD;
Davidroid 0:92706998571a 1410 break;
Davidroid 0:92706998571a 1411 case OCD_ID:
Davidroid 0:92706998571a 1412 state = pL6470_StatusRegister->OCD;
Davidroid 0:92706998571a 1413 break;
Davidroid 0:92706998571a 1414 case STEP_LOSS_A_ID:
Davidroid 0:92706998571a 1415 state = pL6470_StatusRegister->STEP_LOSS_A;
Davidroid 0:92706998571a 1416 break;
Davidroid 0:92706998571a 1417 case STEP_LOSS_B_ID:
Davidroid 0:92706998571a 1418 state = pL6470_StatusRegister->STEP_LOSS_B;
Davidroid 0:92706998571a 1419 break;
Davidroid 0:92706998571a 1420 case SCK_MOD_ID:
Davidroid 0:92706998571a 1421 state = pL6470_StatusRegister->SCK_MOD;
Davidroid 0:92706998571a 1422 break;
Davidroid 0:92706998571a 1423 }
Davidroid 0:92706998571a 1424
Davidroid 0:92706998571a 1425 return state;
Davidroid 0:92706998571a 1426 }
Davidroid 0:92706998571a 1427
Davidroid 0:92706998571a 1428 /**
Davidroid 0:92706998571a 1429 * @brief Return the mnemonic name for the L6470 register.
Davidroid 0:92706998571a 1430 * @param id The identifier of the L6470 register.
Davidroid 0:92706998571a 1431 */
Davidroid 0:92706998571a 1432 uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
Davidroid 0:92706998571a 1433 {
Davidroid 0:92706998571a 1434 if (id < L6470REGIDSIZE)
Davidroid 0:92706998571a 1435 {
Davidroid 0:92706998571a 1436 return (uint8_t*)L6470_Register[id].Name;
Davidroid 0:92706998571a 1437 }
Davidroid 0:92706998571a 1438 else
Davidroid 0:92706998571a 1439 {
Davidroid 0:92706998571a 1440 return NULL;
Davidroid 0:92706998571a 1441 }
Davidroid 0:92706998571a 1442 }
Davidroid 0:92706998571a 1443
Davidroid 0:92706998571a 1444 /**
Davidroid 0:92706998571a 1445 * @brief Configures the L6470 registers.
Davidroid 12:a942d51c488b 1446 * @param init The pointer to the initialization structure.
Davidroid 0:92706998571a 1447 */
Davidroid 12:a942d51c488b 1448 DrvStatusTypeDef L6470::L6470_Config(void *init)
Davidroid 0:92706998571a 1449 {
Davidroid 0:92706998571a 1450 /* Disable the L6470. */
Davidroid 0:92706998571a 1451 L6470_DISABLE();
Davidroid 0:92706998571a 1452
Davidroid 0:92706998571a 1453 /* Enable the L6470. */
Davidroid 0:92706998571a 1454 L6470_ENABLE();
Davidroid 0:92706998571a 1455
Davidroid 0:92706998571a 1456 /* Reset devices. */
Davidroid 0:92706998571a 1457 ResetDevice();
Davidroid 0:92706998571a 1458
Davidroid 0:92706998571a 1459 /* Reset Status Register flags. */
Davidroid 0:92706998571a 1460 GetStatus();
Davidroid 0:92706998571a 1461
Davidroid 0:92706998571a 1462 /* Prepare the 'Register' field of StepperMotorDriverHandle */
Davidroid 12:a942d51c488b 1463 L6470_InitTypeDef *MotorParameterData = (L6470_InitTypeDef *) init;
Davidroid 0:92706998571a 1464 StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
Davidroid 0:92706998571a 1465 StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
Davidroid 0:92706998571a 1466 StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
Davidroid 0:92706998571a 1467 StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
Davidroid 0:92706998571a 1468 StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
Davidroid 0:92706998571a 1469 StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1470 StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1471 StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1472 StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
Davidroid 0:92706998571a 1473 StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
Davidroid 0:92706998571a 1474 StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
Davidroid 0:92706998571a 1475 StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
Davidroid 0:92706998571a 1476 StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
Davidroid 0:92706998571a 1477 StepperMotorRegister.K_THERM = MotorParameterData->kterm;
Davidroid 0:92706998571a 1478 StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
Davidroid 0:92706998571a 1479 StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
Davidroid 0:92706998571a 1480 StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
Davidroid 0:92706998571a 1481 StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
Davidroid 0:92706998571a 1482 StepperMotorRegister.CONFIG = MotorParameterData->config;
Davidroid 0:92706998571a 1483
Davidroid 0:92706998571a 1484 /* Write the L6470 registers with the prepared data */
Davidroid 0:92706998571a 1485 L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
Davidroid 0:92706998571a 1486 L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
Davidroid 0:92706998571a 1487 L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
Davidroid 0:92706998571a 1488 L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
Davidroid 0:92706998571a 1489 L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
Davidroid 0:92706998571a 1490 L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
Davidroid 0:92706998571a 1491 L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
Davidroid 0:92706998571a 1492 L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
Davidroid 0:92706998571a 1493 L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
Davidroid 0:92706998571a 1494 L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
Davidroid 0:92706998571a 1495 L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
Davidroid 0:92706998571a 1496 L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
Davidroid 0:92706998571a 1497 L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
Davidroid 0:92706998571a 1498 L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
Davidroid 0:92706998571a 1499 L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
Davidroid 0:92706998571a 1500 L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
Davidroid 0:92706998571a 1501 L6470_SetParam(L6470_STEP_MODE_ID, StepperMotorRegister.STEP_MODE);
Davidroid 0:92706998571a 1502 L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
Davidroid 0:92706998571a 1503 L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
Davidroid 0:92706998571a 1504
Davidroid 0:92706998571a 1505 return COMPONENT_OK;
Davidroid 0:92706998571a 1506 }
Davidroid 0:92706998571a 1507
Davidroid 0:92706998571a 1508 /* End of L6470_Exported_Functions */
Davidroid 0:92706998571a 1509
Davidroid 0:92706998571a 1510 /* End of L6470 */
Davidroid 0:92706998571a 1511
Davidroid 0:92706998571a 1512 /* End of Components */
Davidroid 0:92706998571a 1513
Davidroid 0:92706998571a 1514 /* End of BSP */
Davidroid 0:92706998571a 1515
Davidroid 0:92706998571a 1516 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/