Nucleo_BSP_IHM01A1 - X-CUBE-SPN1-20150128 example source code for one …

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David Lowe / Mbed 2 deprecated Nucleo_BSP_IHM01A1

X-CUBE-SPN1-20150128 example source code for one motor compiled under mbed. Tested OK on Nucleo F401. l6474.cpp is modified from original with defines in l6474_target_config.h to select the original behaviour (motor de-energised when halted), or new mode to continue powering with a (reduced) current in the coils (braking/position hold capability). On F401 avoid using mbed's InterruptIn on pins 10-15 (any port). Beware of other conflicts! L0 & F0 are included but untested.

Dependencies: mbed

IHM01A1/l6474.cpp@6:19c1b4a04c24, 2015-10-13 (annotated)

Committer:: gregeric
Date:: Tue Oct 13 10:46:01 2015 +0000
Revision:: 6:19c1b4a04c24
Parent:: 0:b9444a40a999

Ensure bridge is disabled before resetting the L6474.

Who changed what in which revision?

User	Revision	Line number	New contents of line
gregeric	0:b9444a40a999	1	/**
gregeric	0:b9444a40a999	2	******************************************************************************
gregeric	0:b9444a40a999	3	* @file l6474.c
gregeric	0:b9444a40a999	4	* @author IPC Rennes
gregeric	0:b9444a40a999	5	* @version V1.5.0
gregeric	0:b9444a40a999	6	* @date November 12, 2014
gregeric	0:b9444a40a999	7	* @brief L6474 driver (fully integrated microstepping motor driver)
gregeric	0:b9444a40a999	8	* @note (C) COPYRIGHT 2014 STMicroelectronics
gregeric	0:b9444a40a999	9	******************************************************************************
gregeric	0:b9444a40a999	10	* @attention
gregeric	0:b9444a40a999	11	*
gregeric	0:b9444a40a999	12	* <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
gregeric	0:b9444a40a999	13	*
gregeric	0:b9444a40a999	14	* Redistribution and use in source and binary forms, with or without modification,
gregeric	0:b9444a40a999	15	* are permitted provided that the following conditions are met:
gregeric	0:b9444a40a999	16	* 1. Redistributions of source code must retain the above copyright notice,
gregeric	0:b9444a40a999	17	* this list of conditions and the following disclaimer.
gregeric	0:b9444a40a999	18	* 2. Redistributions in binary form must reproduce the above copyright notice,
gregeric	0:b9444a40a999	19	* this list of conditions and the following disclaimer in the documentation
gregeric	0:b9444a40a999	20	* and/or other materials provided with the distribution.
gregeric	0:b9444a40a999	21	* 3. Neither the name of STMicroelectronics nor the names of its contributors
gregeric	0:b9444a40a999	22	* may be used to endorse or promote products derived from this software
gregeric	0:b9444a40a999	23	* without specific prior written permission.
gregeric	0:b9444a40a999	24	*
gregeric	0:b9444a40a999	25	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
gregeric	0:b9444a40a999	26	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
gregeric	0:b9444a40a999	27	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
gregeric	0:b9444a40a999	28	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
gregeric	0:b9444a40a999	29	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
gregeric	0:b9444a40a999	30	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
gregeric	0:b9444a40a999	31	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
gregeric	0:b9444a40a999	32	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
gregeric	0:b9444a40a999	33	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
gregeric	0:b9444a40a999	34	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
gregeric	0:b9444a40a999	35	*
gregeric	0:b9444a40a999	36	******************************************************************************
gregeric	0:b9444a40a999	37	*/
gregeric	0:b9444a40a999	38
gregeric	0:b9444a40a999	39	/* Includes ------------------------------------------------------------------*/
gregeric	0:b9444a40a999	40	#include "l6474.h"
gregeric	0:b9444a40a999	41
gregeric	0:b9444a40a999	42	/* Private constants ---------------------------------------------------------*/
gregeric	0:b9444a40a999	43
gregeric	0:b9444a40a999	44
gregeric	0:b9444a40a999	45	/** @addtogroup BSP
gregeric	0:b9444a40a999	46	* @{
gregeric	0:b9444a40a999	47	*/
gregeric	0:b9444a40a999	48
gregeric	0:b9444a40a999	49	/** @defgroup L6474
gregeric	0:b9444a40a999	50	* @{
gregeric	0:b9444a40a999	51	*/
gregeric	0:b9444a40a999	52
gregeric	0:b9444a40a999	53	/* Private constants ---------------------------------------------------------*/
gregeric	0:b9444a40a999	54
gregeric	0:b9444a40a999	55	/** @defgroup L6474_Private_Constants
gregeric	0:b9444a40a999	56	* @{
gregeric	0:b9444a40a999	57	*/
gregeric	0:b9444a40a999	58
gregeric	0:b9444a40a999	59	/// Error while initialising the SPI
gregeric	0:b9444a40a999	60	#define L6474_ERROR_0 (0x8000)
gregeric	0:b9444a40a999	61	/// Error: Bad SPI transaction
gregeric	0:b9444a40a999	62	#define L6474_ERROR_1 (0x8001)
gregeric	0:b9444a40a999	63
gregeric	0:b9444a40a999	64	/// Maximum number of steps
gregeric	0:b9444a40a999	65	#define MAX_STEPS (0x7FFFFFFF)
gregeric	0:b9444a40a999	66
gregeric	0:b9444a40a999	67	/// Maximum frequency of the PWMs in Hz
gregeric	0:b9444a40a999	68	#define L6474_MAX_PWM_FREQ (10000)
gregeric	0:b9444a40a999	69
gregeric	0:b9444a40a999	70	/// Minimum frequency of the PWMs in Hz
gregeric	0:b9444a40a999	71	#define L6474_MIN_PWM_FREQ (2)
gregeric	0:b9444a40a999	72
gregeric	0:b9444a40a999	73	/**
gregeric	0:b9444a40a999	74	* @}
gregeric	0:b9444a40a999	75	*/
gregeric	0:b9444a40a999	76
gregeric	0:b9444a40a999	77	/* Private variables ---------------------------------------------------------*/
gregeric	0:b9444a40a999	78
gregeric	0:b9444a40a999	79	/** @defgroup L6474_Private_Variables
gregeric	0:b9444a40a999	80	* @{
gregeric	0:b9444a40a999	81	*/
gregeric	0:b9444a40a999	82
gregeric	0:b9444a40a999	83	/// Function pointer to flag interrupt call back
gregeric	0:b9444a40a999	84	void (*flagInterruptCallback)(void);
gregeric	0:b9444a40a999	85	/// Function pointer to error handler call back
gregeric	0:b9444a40a999	86	void (*errorHandlerCallback)(uint16_t);
gregeric	0:b9444a40a999	87	static volatile uint8_t numberOfDevices;
gregeric	0:b9444a40a999	88	static uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
gregeric	0:b9444a40a999	89	static uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
gregeric	0:b9444a40a999	90	static volatile bool spiPreemtionByIsr = FALSE;
gregeric	0:b9444a40a999	91	static volatile bool isrFlag = FALSE;
gregeric	0:b9444a40a999	92	static uint16_t l6474DriverInstance = 0;
gregeric	0:b9444a40a999	93
gregeric	0:b9444a40a999	94	/// L6474 Device Paramaters structure
gregeric	0:b9444a40a999	95	deviceParams_t devicePrm[MAX_NUMBER_OF_DEVICES];
gregeric	0:b9444a40a999	96
gregeric	0:b9444a40a999	97
gregeric	0:b9444a40a999	98	/**
gregeric	0:b9444a40a999	99	* @}
gregeric	0:b9444a40a999	100	*/
gregeric	0:b9444a40a999	101
gregeric	0:b9444a40a999	102	/* Private function prototypes -----------------------------------------------*/
gregeric	0:b9444a40a999	103
gregeric	0:b9444a40a999	104	/** @defgroup L6474_Private_functions
gregeric	0:b9444a40a999	105	* @{
gregeric	0:b9444a40a999	106	*/
gregeric	0:b9444a40a999	107	void L6474_ApplySpeed(uint8_t pwmId, uint16_t newSpeed);
gregeric	0:b9444a40a999	108	void L6474_ComputeSpeedProfile(uint8_t deviceId, uint32_t nbSteps);
gregeric	0:b9444a40a999	109	int32_t L6474_ConvertPosition(uint32_t abs_position_reg);
gregeric	0:b9444a40a999	110	void L6474_ErrorHandler(uint16_t error);
gregeric	0:b9444a40a999	111	void L6474_FlagInterruptHandler(void);
gregeric	0:b9444a40a999	112	void L6474_SendCommand(uint8_t deviceId, uint8_t param);
gregeric	0:b9444a40a999	113	void L6474_SetRegisterToPredefinedValues(uint8_t deviceId);
gregeric	0:b9444a40a999	114	void L6474_WriteBytes(uint8_t pByteToTransmit, uint8_t pReceivedByte);
gregeric	0:b9444a40a999	115	void L6474_SetDeviceParamsToPredefinedValues(void);
gregeric	0:b9444a40a999	116	void L6474_StartMovement(uint8_t deviceId);
gregeric	0:b9444a40a999	117	void L6474_StepClockHandler(uint8_t deviceId);
gregeric	0:b9444a40a999	118	uint8_t L6474_Tval_Current_to_Par(double Tval);
gregeric	0:b9444a40a999	119	uint8_t L6474_Tmin_Time_to_Par(double Tmin);
gregeric	0:b9444a40a999	120
gregeric	0:b9444a40a999	121	/**
gregeric	0:b9444a40a999	122	* @}
gregeric	0:b9444a40a999	123	*/
gregeric	0:b9444a40a999	124
gregeric	0:b9444a40a999	125
gregeric	0:b9444a40a999	126	/** @defgroup L6474_Exported_Variables
gregeric	0:b9444a40a999	127	* @{
gregeric	0:b9444a40a999	128	*/
gregeric	0:b9444a40a999	129
gregeric	0:b9444a40a999	130	/// L6474 motor driver functions pointer structure
gregeric	0:b9444a40a999	131	motorDrv_t l6474Drv =
gregeric	0:b9444a40a999	132	{
gregeric	0:b9444a40a999	133	L6474_Init,
gregeric	0:b9444a40a999	134	L6474_ReadId,
gregeric	0:b9444a40a999	135	L6474_AttachErrorHandler,
gregeric	0:b9444a40a999	136	L6474_AttachFlagInterrupt,
gregeric	0:b9444a40a999	137	0,
gregeric	0:b9444a40a999	138	L6474_FlagInterruptHandler,
gregeric	0:b9444a40a999	139	L6474_GetAcceleration,
gregeric	0:b9444a40a999	140	L6474_GetCurrentSpeed,
gregeric	0:b9444a40a999	141	L6474_GetDeceleration,
gregeric	0:b9444a40a999	142	L6474_GetDeviceState,
gregeric	0:b9444a40a999	143	L6474_GetFwVersion,
gregeric	0:b9444a40a999	144	L6474_GetMark,
gregeric	0:b9444a40a999	145	L6474_GetMaxSpeed,
gregeric	0:b9444a40a999	146	L6474_GetMinSpeed,
gregeric	0:b9444a40a999	147	L6474_GetPosition,
gregeric	0:b9444a40a999	148	L6474_GoHome,
gregeric	0:b9444a40a999	149	L6474_GoMark,
gregeric	0:b9444a40a999	150	L6474_GoTo,
gregeric	0:b9444a40a999	151	L6474_HardStop,
gregeric	0:b9444a40a999	152	L6474_Move,
gregeric	0:b9444a40a999	153	L6474_ResetAllDevices,
gregeric	0:b9444a40a999	154	L6474_Run,
gregeric	0:b9444a40a999	155	L6474_SetAcceleration,
gregeric	0:b9444a40a999	156	L6474_SetDeceleration,
gregeric	0:b9444a40a999	157	L6474_SetHome,
gregeric	0:b9444a40a999	158	L6474_SetMark,
gregeric	0:b9444a40a999	159	L6474_SetMaxSpeed,
gregeric	0:b9444a40a999	160	L6474_SetMinSpeed,
gregeric	0:b9444a40a999	161	L6474_SoftStop,
gregeric	0:b9444a40a999	162	L6474_StepClockHandler,
gregeric	0:b9444a40a999	163	L6474_WaitWhileActive,
gregeric	0:b9444a40a999	164	L6474_CmdDisable,
gregeric	0:b9444a40a999	165	L6474_CmdEnable,
gregeric	0:b9444a40a999	166	L6474_CmdGetParam,
gregeric	0:b9444a40a999	167	L6474_CmdGetStatus,
gregeric	0:b9444a40a999	168	L6474_CmdNop,
gregeric	0:b9444a40a999	169	L6474_CmdSetParam,
gregeric	0:b9444a40a999	170	L6474_ReadStatusRegister,
gregeric	0:b9444a40a999	171	L6474_ReleaseReset,
gregeric	0:b9444a40a999	172	L6474_Reset,
gregeric	0:b9444a40a999	173	L6474_SelectStepMode,
gregeric	0:b9444a40a999	174	L6474_SetDirection,
gregeric	0:b9444a40a999	175	0,
gregeric	0:b9444a40a999	176	0,
gregeric	0:b9444a40a999	177	0,
gregeric	0:b9444a40a999	178	0,
gregeric	0:b9444a40a999	179	0,
gregeric	0:b9444a40a999	180	0,
gregeric	0:b9444a40a999	181	0,
gregeric	0:b9444a40a999	182	0,
gregeric	0:b9444a40a999	183	0,
gregeric	0:b9444a40a999	184	0,
gregeric	0:b9444a40a999	185	0,
gregeric	0:b9444a40a999	186	0,
gregeric	0:b9444a40a999	187	0,
gregeric	0:b9444a40a999	188	0,
gregeric	0:b9444a40a999	189	0,
gregeric	0:b9444a40a999	190	0,
gregeric	0:b9444a40a999	191	0,
gregeric	0:b9444a40a999	192	0,
gregeric	0:b9444a40a999	193	L6474_ErrorHandler,
gregeric	0:b9444a40a999	194	0
gregeric	0:b9444a40a999	195	};
gregeric	0:b9444a40a999	196
gregeric	0:b9444a40a999	197	/**
gregeric	0:b9444a40a999	198	* @}
gregeric	0:b9444a40a999	199	*/
gregeric	0:b9444a40a999	200
gregeric	0:b9444a40a999	201	/** @defgroup Device_Control_Functions
gregeric	0:b9444a40a999	202	* @{
gregeric	0:b9444a40a999	203	*/
gregeric	0:b9444a40a999	204
gregeric	0:b9444a40a999	205	/****************************************************//
gregeric	0:b9444a40a999	206	* @brief Attaches a user callback to the error Handler.
gregeric	0:b9444a40a999	207	* The call back will be then called each time the library
gregeric	0:b9444a40a999	208	* detects an error
gregeric	0:b9444a40a999	209	* @param[in] callback Name of the callback to attach
gregeric	0:b9444a40a999	210	* to the error Hanlder
gregeric	0:b9444a40a999	211	* @retval None
gregeric	0:b9444a40a999	212	**********************************************************/
gregeric	0:b9444a40a999	213	void L6474_AttachErrorHandler(void (*callback)(uint16_t))
gregeric	0:b9444a40a999	214	{
gregeric	0:b9444a40a999	215	errorHandlerCallback = (void (*)(uint16_t))callback;
gregeric	0:b9444a40a999	216	}
gregeric	0:b9444a40a999	217
gregeric	0:b9444a40a999	218	/****************************************************//
gregeric	0:b9444a40a999	219	* @brief Attaches a user callback to the flag Interrupt
gregeric	0:b9444a40a999	220	* The call back will be then called each time the status
gregeric	0:b9444a40a999	221	* flag pin will be pulled down due to the occurrence of
gregeric	0:b9444a40a999	222	* a programmed alarms ( OCD, thermal pre-warning or
gregeric	0:b9444a40a999	223	* shutdown, UVLO, wrong command, non-performable command)
gregeric	0:b9444a40a999	224	* @param[in] callback Name of the callback to attach
gregeric	0:b9444a40a999	225	* to the Flag Interrupt
gregeric	0:b9444a40a999	226	* @retval None
gregeric	0:b9444a40a999	227	**********************************************************/
gregeric	0:b9444a40a999	228	void L6474_AttachFlagInterrupt(void (*callback)(void))
gregeric	0:b9444a40a999	229	{
gregeric	0:b9444a40a999	230	flagInterruptCallback = (void (*)())callback;
gregeric	0:b9444a40a999	231	}
gregeric	0:b9444a40a999	232
gregeric	0:b9444a40a999	233	/****************************************************//
gregeric	0:b9444a40a999	234	* @brief Starts the L6474 library
gregeric	0:b9444a40a999	235	* @param[in] nbDevices Number of L6474 devices to use (from 1 to 3)
gregeric	0:b9444a40a999	236	* @retval None
gregeric	0:b9444a40a999	237	**********************************************************/
gregeric	0:b9444a40a999	238	void L6474_Init(uint8_t nbDevices)
gregeric	0:b9444a40a999	239	{
gregeric	0:b9444a40a999	240	uint32_t i;
gregeric	0:b9444a40a999	241	numberOfDevices = nbDevices;
gregeric	0:b9444a40a999	242
gregeric	0:b9444a40a999	243	l6474DriverInstance++;
gregeric	0:b9444a40a999	244
gregeric	0:b9444a40a999	245	/* Initialise the GPIOs */
gregeric	0:b9444a40a999	246	BSP_MotorControlBoard_GpioInit(nbDevices);
gregeric	0:b9444a40a999	247
gregeric	0:b9444a40a999	248	if(BSP_MotorControlBoard_SpiInit() != 0)
gregeric	0:b9444a40a999	249	{
gregeric	0:b9444a40a999	250	/* Initialization Error */
gregeric	0:b9444a40a999	251	L6474_ErrorHandler(L6474_ERROR_0);
gregeric	0:b9444a40a999	252	}
gregeric	0:b9444a40a999	253
gregeric	0:b9444a40a999	254	/* Initialise the PWMs used for the Step clocks ----------------------------*/
gregeric	0:b9444a40a999	255	switch (nbDevices)
gregeric	0:b9444a40a999	256	{
gregeric	0:b9444a40a999	257	case 3:
gregeric	0:b9444a40a999	258	BSP_MotorControlBoard_PwmInit(2);
gregeric	0:b9444a40a999	259	case 2:
gregeric	0:b9444a40a999	260	BSP_MotorControlBoard_PwmInit(1);
gregeric	0:b9444a40a999	261	case 1:
gregeric	0:b9444a40a999	262	BSP_MotorControlBoard_PwmInit(0);
gregeric	0:b9444a40a999	263	default:
gregeric	0:b9444a40a999	264	;
gregeric	0:b9444a40a999	265	}
gregeric	0:b9444a40a999	266
gregeric	0:b9444a40a999	267	/* Initialise the L6474s ------------------------------------------------*/
gregeric	0:b9444a40a999	268
gregeric	0:b9444a40a999	269	/* Standby-reset deactivation */
gregeric	0:b9444a40a999	270	BSP_MotorControlBoard_ReleaseReset();
gregeric	0:b9444a40a999	271
gregeric	0:b9444a40a999	272	/* Let a delay after reset */
gregeric	0:b9444a40a999	273	BSP_MotorControlBoard_Delay(1);
gregeric	0:b9444a40a999	274
gregeric	0:b9444a40a999	275	/* Set all registers and context variables to the predefined values from l6474_target_config.h */
gregeric	0:b9444a40a999	276	L6474_SetDeviceParamsToPredefinedValues();
gregeric	0:b9444a40a999	277
gregeric	0:b9444a40a999	278	/* Disable L6474 powerstage */
gregeric	0:b9444a40a999	279	for (i = 0; i < nbDevices; i++)
gregeric	0:b9444a40a999	280	{
gregeric	0:b9444a40a999	281	L6474_CmdDisable(i);
gregeric	0:b9444a40a999	282	/* Get Status to clear flags after start up */
gregeric	0:b9444a40a999	283	L6474_CmdGetStatus(i);
gregeric	0:b9444a40a999	284	}
gregeric	0:b9444a40a999	285	}
gregeric	0:b9444a40a999	286
gregeric	0:b9444a40a999	287	/****************************************************//
gregeric	0:b9444a40a999	288	* @brief Returns the acceleration of the specified device
gregeric	0:b9444a40a999	289	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	290	* @retval Acceleration in pps^2
gregeric	0:b9444a40a999	291	**********************************************************/
gregeric	0:b9444a40a999	292	uint16_t L6474_GetAcceleration(uint8_t deviceId)
gregeric	0:b9444a40a999	293	{
gregeric	0:b9444a40a999	294	return (devicePrm[deviceId].acceleration);
gregeric	0:b9444a40a999	295	}
gregeric	0:b9444a40a999	296
gregeric	0:b9444a40a999	297	/****************************************************//
gregeric	0:b9444a40a999	298	* @brief Returns the current speed of the specified device
gregeric	0:b9444a40a999	299	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	300	* @retval Speed in pps
gregeric	0:b9444a40a999	301	**********************************************************/
gregeric	0:b9444a40a999	302	uint16_t L6474_GetCurrentSpeed(uint8_t deviceId)
gregeric	0:b9444a40a999	303	{
gregeric	0:b9444a40a999	304	return devicePrm[deviceId].speed;
gregeric	0:b9444a40a999	305	}
gregeric	0:b9444a40a999	306
gregeric	0:b9444a40a999	307	/****************************************************//
gregeric	0:b9444a40a999	308	* @brief Returns the deceleration of the specified device
gregeric	0:b9444a40a999	309	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	310	* @retval Deceleration in pps^2
gregeric	0:b9444a40a999	311	**********************************************************/
gregeric	0:b9444a40a999	312	uint16_t L6474_GetDeceleration(uint8_t deviceId)
gregeric	0:b9444a40a999	313	{
gregeric	0:b9444a40a999	314	return (devicePrm[deviceId].deceleration);
gregeric	0:b9444a40a999	315	}
gregeric	0:b9444a40a999	316
gregeric	0:b9444a40a999	317	/****************************************************//
gregeric	0:b9444a40a999	318	* @brief Returns the device state
gregeric	0:b9444a40a999	319	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	320	* @retval State (ACCELERATING, DECELERATING, STEADY or INACTIVE)
gregeric	0:b9444a40a999	321	**********************************************************/
gregeric	0:b9444a40a999	322	motorState_t L6474_GetDeviceState(uint8_t deviceId)
gregeric	0:b9444a40a999	323	{
gregeric	0:b9444a40a999	324	return devicePrm[deviceId].motionState;
gregeric	0:b9444a40a999	325	}
gregeric	0:b9444a40a999	326
gregeric	0:b9444a40a999	327	/****************************************************//
gregeric	0:b9444a40a999	328	* @brief Returns the FW version of the library
gregeric	0:b9444a40a999	329	* @param None
gregeric	0:b9444a40a999	330	* @retval L6474_FW_VERSION
gregeric	0:b9444a40a999	331	**********************************************************/
gregeric	0:b9444a40a999	332	uint8_t L6474_GetFwVersion(void)
gregeric	0:b9444a40a999	333	{
gregeric	0:b9444a40a999	334	return (L6474_FW_VERSION);
gregeric	0:b9444a40a999	335	}
gregeric	0:b9444a40a999	336
gregeric	0:b9444a40a999	337	/****************************************************//
gregeric	0:b9444a40a999	338	* @brief Return motor handle (pointer to the L6474 motor driver structure)
gregeric	0:b9444a40a999	339	* @param None
gregeric	0:b9444a40a999	340	* @retval Pointer to the motorDrv_t structure
gregeric	0:b9444a40a999	341	**********************************************************/
gregeric	0:b9444a40a999	342	motorDrv_t* L6474_GetMotorHandle(void)
gregeric	0:b9444a40a999	343	{
gregeric	0:b9444a40a999	344	return (&l6474Drv);
gregeric	0:b9444a40a999	345	}
gregeric	0:b9444a40a999	346
gregeric	0:b9444a40a999	347	/****************************************************//
gregeric	0:b9444a40a999	348	* @brief Returns the mark position of the specified device
gregeric	0:b9444a40a999	349	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	350	* @retval Mark register value converted in a 32b signed integer
gregeric	0:b9444a40a999	351	**********************************************************/
gregeric	0:b9444a40a999	352	int32_t L6474_GetMark(uint8_t deviceId)
gregeric	0:b9444a40a999	353	{
gregeric	0:b9444a40a999	354	return L6474_ConvertPosition(L6474_CmdGetParam(deviceId,L6474_MARK));
gregeric	0:b9444a40a999	355	}
gregeric	0:b9444a40a999	356
gregeric	0:b9444a40a999	357	/****************************************************//
gregeric	0:b9444a40a999	358	* @brief Returns the max speed of the specified device
gregeric	0:b9444a40a999	359	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	360	* @retval maxSpeed in pps
gregeric	0:b9444a40a999	361	**********************************************************/
gregeric	0:b9444a40a999	362	uint16_t L6474_GetMaxSpeed(uint8_t deviceId)
gregeric	0:b9444a40a999	363	{
gregeric	0:b9444a40a999	364	return (devicePrm[deviceId].maxSpeed);
gregeric	0:b9444a40a999	365	}
gregeric	0:b9444a40a999	366
gregeric	0:b9444a40a999	367	/****************************************************//
gregeric	0:b9444a40a999	368	* @brief Returns the min speed of the specified device
gregeric	0:b9444a40a999	369	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	370	* @retval minSpeed in pps
gregeric	0:b9444a40a999	371	**********************************************************/
gregeric	0:b9444a40a999	372	uint16_t L6474_GetMinSpeed(uint8_t deviceId)
gregeric	0:b9444a40a999	373	{
gregeric	0:b9444a40a999	374	return (devicePrm[deviceId].minSpeed);
gregeric	0:b9444a40a999	375	}
gregeric	0:b9444a40a999	376
gregeric	0:b9444a40a999	377	/****************************************************//
gregeric	0:b9444a40a999	378	* @brief Returns the ABS_POSITION of the specified device
gregeric	0:b9444a40a999	379	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	380	* @retval ABS_POSITION register value converted in a 32b signed integer
gregeric	0:b9444a40a999	381	**********************************************************/
gregeric	0:b9444a40a999	382	int32_t L6474_GetPosition(uint8_t deviceId)
gregeric	0:b9444a40a999	383	{
gregeric	0:b9444a40a999	384	return L6474_ConvertPosition(L6474_CmdGetParam(deviceId,L6474_ABS_POS));
gregeric	0:b9444a40a999	385	}
gregeric	0:b9444a40a999	386
gregeric	0:b9444a40a999	387
gregeric	0:b9444a40a999	388
gregeric	0:b9444a40a999	389	/****************************************************//
gregeric	0:b9444a40a999	390	* @brief Requests the motor to move to the home position (ABS_POSITION = 0)
gregeric	0:b9444a40a999	391	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	392	* @retval None
gregeric	0:b9444a40a999	393	**********************************************************/
gregeric	0:b9444a40a999	394	void L6474_GoHome(uint8_t deviceId)
gregeric	0:b9444a40a999	395	{
gregeric	0:b9444a40a999	396	L6474_GoTo(deviceId, 0);
gregeric	0:b9444a40a999	397	}
gregeric	0:b9444a40a999	398
gregeric	0:b9444a40a999	399	/****************************************************//
gregeric	0:b9444a40a999	400	* @brief Requests the motor to move to the mark position
gregeric	0:b9444a40a999	401	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	402	* @retval None
gregeric	0:b9444a40a999	403	**********************************************************/
gregeric	0:b9444a40a999	404	void L6474_GoMark(uint8_t deviceId)
gregeric	0:b9444a40a999	405	{
gregeric	0:b9444a40a999	406	uint32_t mark;
gregeric	0:b9444a40a999	407
gregeric	0:b9444a40a999	408	mark = L6474_ConvertPosition(L6474_CmdGetParam(deviceId,L6474_MARK));
gregeric	0:b9444a40a999	409	L6474_GoTo(deviceId,mark);
gregeric	0:b9444a40a999	410	}
gregeric	0:b9444a40a999	411
gregeric	0:b9444a40a999	412	/****************************************************//
gregeric	0:b9444a40a999	413	* @brief Requests the motor to move to the specified position
gregeric	0:b9444a40a999	414	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	415	* @param[in] targetPosition absolute position in steps
gregeric	0:b9444a40a999	416	* @retval None
gregeric	0:b9444a40a999	417	**********************************************************/
gregeric	0:b9444a40a999	418	void L6474_GoTo(uint8_t deviceId, int32_t targetPosition)
gregeric	0:b9444a40a999	419	{
gregeric	0:b9444a40a999	420	motorDir_t direction;
gregeric	0:b9444a40a999	421	int32_t steps;
gregeric	0:b9444a40a999	422
gregeric	0:b9444a40a999	423	/* Eventually deactivate motor */
gregeric	0:b9444a40a999	424	if (devicePrm[deviceId].motionState != INACTIVE)
gregeric	0:b9444a40a999	425	{
gregeric	0:b9444a40a999	426	L6474_HardStop(deviceId);
gregeric	0:b9444a40a999	427	}
gregeric	0:b9444a40a999	428
gregeric	0:b9444a40a999	429	/* Get current position */
gregeric	0:b9444a40a999	430	devicePrm[deviceId].currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(deviceId,L6474_ABS_POS));
gregeric	0:b9444a40a999	431
gregeric	0:b9444a40a999	432	/* Compute the number of steps to perform */
gregeric	0:b9444a40a999	433	steps = targetPosition - devicePrm[deviceId].currentPosition;
gregeric	0:b9444a40a999	434
gregeric	0:b9444a40a999	435	if (steps >= 0)
gregeric	0:b9444a40a999	436	{
gregeric	0:b9444a40a999	437	devicePrm[deviceId].stepsToTake = steps;
gregeric	0:b9444a40a999	438	direction = FORWARD;
gregeric	0:b9444a40a999	439
gregeric	0:b9444a40a999	440	}
gregeric	0:b9444a40a999	441	else
gregeric	0:b9444a40a999	442	{
gregeric	0:b9444a40a999	443	devicePrm[deviceId].stepsToTake = -steps;
gregeric	0:b9444a40a999	444	direction = BACKWARD;
gregeric	0:b9444a40a999	445	}
gregeric	0:b9444a40a999	446
gregeric	0:b9444a40a999	447	if (steps != 0)
gregeric	0:b9444a40a999	448	{
gregeric	0:b9444a40a999	449
gregeric	0:b9444a40a999	450	devicePrm[deviceId].commandExecuted = MOVE_CMD;
gregeric	0:b9444a40a999	451
gregeric	0:b9444a40a999	452	/* Direction setup */
gregeric	0:b9444a40a999	453	L6474_SetDirection(deviceId,direction);
gregeric	0:b9444a40a999	454
gregeric	0:b9444a40a999	455	L6474_ComputeSpeedProfile(deviceId, devicePrm[deviceId].stepsToTake);
gregeric	0:b9444a40a999	456
gregeric	0:b9444a40a999	457	/* Motor activation */
gregeric	0:b9444a40a999	458	L6474_StartMovement(deviceId);
gregeric	0:b9444a40a999	459	}
gregeric	0:b9444a40a999	460	}
gregeric	0:b9444a40a999	461
gregeric	0:b9444a40a999	462	/****************************************************//
gregeric	0:b9444a40a999	463	* @brief Immediatly stops the motor and disable the power bridge
gregeric	0:b9444a40a999	464	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	465	* @retval None
gregeric	0:b9444a40a999	466	**********************************************************/
gregeric	0:b9444a40a999	467	void L6474_HardStop(uint8_t deviceId)
gregeric	0:b9444a40a999	468	{
gregeric	0:b9444a40a999	469	/* Disable corresponding PWM */
gregeric	0:b9444a40a999	470	BSP_MotorControlBoard_PwmStop(deviceId);
gregeric	0:b9444a40a999	471
gregeric	0:b9444a40a999	472	/* Disable power stage */
gregeric	0:b9444a40a999	473	#ifndef L6474_CONF_BRAKE_WHEN_HALTED
gregeric	0:b9444a40a999	474	L6474_CmdDisable(deviceId);
gregeric	0:b9444a40a999	475	#else
gregeric	0:b9444a40a999	476	/* Set powerstage to reduced current, retaining position */
gregeric	0:b9444a40a999	477	switch (deviceId)
gregeric	0:b9444a40a999	478	{
gregeric	0:b9444a40a999	479	case 0:
gregeric	0:b9444a40a999	480	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	481	L6474_TVAL,
gregeric	0:b9444a40a999	482	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0/L6474_CONF_BRAKE_CURRENT_FACTOR));
gregeric	0:b9444a40a999	483	break;
gregeric	0:b9444a40a999	484	case 1:
gregeric	0:b9444a40a999	485	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	486	L6474_TVAL,
gregeric	0:b9444a40a999	487	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1/L6474_CONF_BRAKE_CURRENT_FACTOR));
gregeric	0:b9444a40a999	488	break;
gregeric	0:b9444a40a999	489	case 2:
gregeric	0:b9444a40a999	490	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	491	L6474_TVAL,
gregeric	0:b9444a40a999	492	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2/L6474_CONF_BRAKE_CURRENT_FACTOR));
gregeric	0:b9444a40a999	493	break;
gregeric	0:b9444a40a999	494	default: ;
gregeric	0:b9444a40a999	495	}
gregeric	0:b9444a40a999	496	#endif
gregeric	0:b9444a40a999	497	/* Set inactive state */
gregeric	0:b9444a40a999	498	devicePrm[deviceId].motionState = INACTIVE;
gregeric	0:b9444a40a999	499	devicePrm[deviceId].commandExecuted = NO_CMD;
gregeric	0:b9444a40a999	500	devicePrm[deviceId].stepsToTake = MAX_STEPS;
gregeric	0:b9444a40a999	501	}
gregeric	0:b9444a40a999	502
gregeric	0:b9444a40a999	503	/****************************************************//
gregeric	0:b9444a40a999	504	* @brief Moves the motor of the specified number of steps
gregeric	0:b9444a40a999	505	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	506	* @param[in] direction FORWARD or BACKWARD
gregeric	0:b9444a40a999	507	* @param[in] stepCount Number of steps to perform
gregeric	0:b9444a40a999	508	* @retval None
gregeric	0:b9444a40a999	509	**********************************************************/
gregeric	0:b9444a40a999	510	void L6474_Move(uint8_t deviceId, motorDir_t direction, uint32_t stepCount)
gregeric	0:b9444a40a999	511	{
gregeric	0:b9444a40a999	512	/* Eventually deactivate motor */
gregeric	0:b9444a40a999	513	if (devicePrm[deviceId].motionState != INACTIVE)
gregeric	0:b9444a40a999	514	{
gregeric	0:b9444a40a999	515	L6474_HardStop(deviceId);
gregeric	0:b9444a40a999	516	}
gregeric	0:b9444a40a999	517
gregeric	0:b9444a40a999	518	if (stepCount != 0)
gregeric	0:b9444a40a999	519	{
gregeric	0:b9444a40a999	520	devicePrm[deviceId].stepsToTake = stepCount;
gregeric	0:b9444a40a999	521
gregeric	0:b9444a40a999	522	devicePrm[deviceId].commandExecuted = MOVE_CMD;
gregeric	0:b9444a40a999	523
gregeric	0:b9444a40a999	524	devicePrm[deviceId].currentPosition = L6474_ConvertPosition(L6474_CmdGetParam(deviceId,L6474_ABS_POS));
gregeric	0:b9444a40a999	525
gregeric	0:b9444a40a999	526	/* Direction setup */
gregeric	0:b9444a40a999	527	L6474_SetDirection(deviceId,direction);
gregeric	0:b9444a40a999	528
gregeric	0:b9444a40a999	529	L6474_ComputeSpeedProfile(deviceId, stepCount);
gregeric	0:b9444a40a999	530
gregeric	0:b9444a40a999	531	/* Motor activation */
gregeric	0:b9444a40a999	532	L6474_StartMovement(deviceId);
gregeric	0:b9444a40a999	533	}
gregeric	0:b9444a40a999	534	}
gregeric	0:b9444a40a999	535
gregeric	0:b9444a40a999	536	/****************************************************//
gregeric	0:b9444a40a999	537	* @brief Read id
gregeric	0:b9444a40a999	538	* @param None
gregeric	0:b9444a40a999	539	* @retval Id of the l6474 Driver Instance
gregeric	0:b9444a40a999	540	**********************************************************/
gregeric	0:b9444a40a999	541	uint16_t L6474_ReadId(void)
gregeric	0:b9444a40a999	542	{
gregeric	0:b9444a40a999	543	return(l6474DriverInstance);
gregeric	0:b9444a40a999	544	}
gregeric	0:b9444a40a999	545
gregeric	0:b9444a40a999	546	/****************************************************//
gregeric	0:b9444a40a999	547	* @brief Resets all L6474 devices
gregeric	0:b9444a40a999	548	* @param None
gregeric	0:b9444a40a999	549	* @retval None
gregeric	0:b9444a40a999	550	**********************************************************/
gregeric	0:b9444a40a999	551	void L6474_ResetAllDevices(void)
gregeric	0:b9444a40a999	552	{
gregeric	0:b9444a40a999	553	uint8_t loop;
gregeric	0:b9444a40a999	554
gregeric	0:b9444a40a999	555	for (loop = 0; loop < numberOfDevices; loop++)
gregeric	0:b9444a40a999	556	{
gregeric	0:b9444a40a999	557	/* Stop movement and disable power stage*/
gregeric	0:b9444a40a999	558	L6474_HardStop(loop);
gregeric	6:19c1b4a04c24	559	#ifdef L6474_CONF_BRAKE_WHEN_HALTED
gregeric	6:19c1b4a04c24	560	/* Disable corresponding PWM */
gregeric	6:19c1b4a04c24	561	BSP_MotorControlBoard_PwmStop(loop);
gregeric	6:19c1b4a04c24	562
gregeric	6:19c1b4a04c24	563	/* Disable power stage */
gregeric	6:19c1b4a04c24	564	L6474_CmdDisable(loop);
gregeric	6:19c1b4a04c24	565	#endif
gregeric	0:b9444a40a999	566	}
gregeric	0:b9444a40a999	567	L6474_Reset();
gregeric	0:b9444a40a999	568	BSP_MotorControlBoard_Delay(1); // Reset pin must be forced low for at least 10us
gregeric	0:b9444a40a999	569	BSP_MotorControlBoard_ReleaseReset();
gregeric	0:b9444a40a999	570	BSP_MotorControlBoard_Delay(1);
gregeric	0:b9444a40a999	571	}
gregeric	0:b9444a40a999	572
gregeric	0:b9444a40a999	573	/****************************************************//
gregeric	0:b9444a40a999	574	* @brief Runs the motor. It will accelerate from the min
gregeric	0:b9444a40a999	575	* speed up to the max speed by using the device acceleration.
gregeric	0:b9444a40a999	576	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	577	* @param[in] direction FORWARD or BACKWARD
gregeric	0:b9444a40a999	578	* @retval None
gregeric	0:b9444a40a999	579	**********************************************************/
gregeric	0:b9444a40a999	580	void L6474_Run(uint8_t deviceId, motorDir_t direction)
gregeric	0:b9444a40a999	581	{
gregeric	0:b9444a40a999	582	/* Eventually deactivate motor */
gregeric	0:b9444a40a999	583	if (devicePrm[deviceId].motionState != INACTIVE)
gregeric	0:b9444a40a999	584	{
gregeric	0:b9444a40a999	585	L6474_HardStop(deviceId);
gregeric	0:b9444a40a999	586	}
gregeric	0:b9444a40a999	587
gregeric	0:b9444a40a999	588	/* Direction setup */
gregeric	0:b9444a40a999	589	L6474_SetDirection(deviceId,direction);
gregeric	0:b9444a40a999	590
gregeric	0:b9444a40a999	591	devicePrm[deviceId].commandExecuted = RUN_CMD;
gregeric	0:b9444a40a999	592
gregeric	0:b9444a40a999	593	/* Motor activation */
gregeric	0:b9444a40a999	594	L6474_StartMovement(deviceId);
gregeric	0:b9444a40a999	595	}
gregeric	0:b9444a40a999	596
gregeric	0:b9444a40a999	597	/****************************************************//
gregeric	0:b9444a40a999	598	* @brief Changes the acceleration of the specified device
gregeric	0:b9444a40a999	599	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	600	* @param[in] newAcc New acceleration to apply in pps^2
gregeric	0:b9444a40a999	601	* @retval true if the command is successfully executed, else false
gregeric	0:b9444a40a999	602	* @note The command is not performed is the device is executing
gregeric	0:b9444a40a999	603	* a MOVE or GOTO command (but it can be used during a RUN command)
gregeric	0:b9444a40a999	604	**********************************************************/
gregeric	0:b9444a40a999	605	bool L6474_SetAcceleration(uint8_t deviceId,uint16_t newAcc)
gregeric	0:b9444a40a999	606	{
gregeric	0:b9444a40a999	607	bool cmdExecuted = FALSE;
gregeric	0:b9444a40a999	608	if ((newAcc != 0)&&
gregeric	0:b9444a40a999	609	((devicePrm[deviceId].motionState == INACTIVE)\|\|
gregeric	0:b9444a40a999	610	(devicePrm[deviceId].commandExecuted == RUN_CMD)))
gregeric	0:b9444a40a999	611	{
gregeric	0:b9444a40a999	612	devicePrm[deviceId].acceleration = newAcc;
gregeric	0:b9444a40a999	613	cmdExecuted = TRUE;
gregeric	0:b9444a40a999	614	}
gregeric	0:b9444a40a999	615	return cmdExecuted;
gregeric	0:b9444a40a999	616	}
gregeric	0:b9444a40a999	617
gregeric	0:b9444a40a999	618	/****************************************************//
gregeric	0:b9444a40a999	619	* @brief Changes the deceleration of the specified device
gregeric	0:b9444a40a999	620	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	621	* @param[in] newDec New deceleration to apply in pps^2
gregeric	0:b9444a40a999	622	* @retval true if the command is successfully executed, else false
gregeric	0:b9444a40a999	623	* @note The command is not performed is the device is executing
gregeric	0:b9444a40a999	624	* a MOVE or GOTO command (but it can be used during a RUN command)
gregeric	0:b9444a40a999	625	**********************************************************/
gregeric	0:b9444a40a999	626	bool L6474_SetDeceleration(uint8_t deviceId, uint16_t newDec)
gregeric	0:b9444a40a999	627	{
gregeric	0:b9444a40a999	628	bool cmdExecuted = FALSE;
gregeric	0:b9444a40a999	629	if ((newDec != 0)&&
gregeric	0:b9444a40a999	630	((devicePrm[deviceId].motionState == INACTIVE)\|\|
gregeric	0:b9444a40a999	631	(devicePrm[deviceId].commandExecuted == RUN_CMD)))
gregeric	0:b9444a40a999	632	{
gregeric	0:b9444a40a999	633	devicePrm[deviceId].deceleration = newDec;
gregeric	0:b9444a40a999	634	cmdExecuted = TRUE;
gregeric	0:b9444a40a999	635	}
gregeric	0:b9444a40a999	636	return cmdExecuted;
gregeric	0:b9444a40a999	637	}
gregeric	0:b9444a40a999	638
gregeric	0:b9444a40a999	639	/****************************************************//
gregeric	0:b9444a40a999	640	* @brief Set current position to be the Home position (ABS pos set to 0)
gregeric	0:b9444a40a999	641	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	642	* @retval None
gregeric	0:b9444a40a999	643	**********************************************************/
gregeric	0:b9444a40a999	644	void L6474_SetHome(uint8_t deviceId)
gregeric	0:b9444a40a999	645	{
gregeric	0:b9444a40a999	646	L6474_CmdSetParam(deviceId, L6474_ABS_POS, 0);
gregeric	0:b9444a40a999	647	}
gregeric	0:b9444a40a999	648
gregeric	0:b9444a40a999	649	/****************************************************//
gregeric	0:b9444a40a999	650	* @brief Sets current position to be the Mark position
gregeric	0:b9444a40a999	651	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	652	* @retval None
gregeric	0:b9444a40a999	653	**********************************************************/
gregeric	0:b9444a40a999	654	void L6474_SetMark(uint8_t deviceId)
gregeric	0:b9444a40a999	655	{
gregeric	0:b9444a40a999	656	uint32_t mark = L6474_CmdGetParam(deviceId,L6474_ABS_POS);
gregeric	0:b9444a40a999	657	L6474_CmdSetParam(deviceId,L6474_MARK, mark);
gregeric	0:b9444a40a999	658	}
gregeric	0:b9444a40a999	659
gregeric	0:b9444a40a999	660	/****************************************************//
gregeric	0:b9444a40a999	661	* @brief Changes the max speed of the specified device
gregeric	0:b9444a40a999	662	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	663	* @param[in] newMaxSpeed New max speed to apply in pps
gregeric	0:b9444a40a999	664	* @retval true if the command is successfully executed, else false
gregeric	0:b9444a40a999	665	* @note The command is not performed is the device is executing
gregeric	0:b9444a40a999	666	* a MOVE or GOTO command (but it can be used during a RUN command).
gregeric	0:b9444a40a999	667	**********************************************************/
gregeric	0:b9444a40a999	668	bool L6474_SetMaxSpeed(uint8_t deviceId, uint16_t newMaxSpeed)
gregeric	0:b9444a40a999	669	{
gregeric	0:b9444a40a999	670	bool cmdExecuted = FALSE;
gregeric	0:b9444a40a999	671	if ((newMaxSpeed >= L6474_MIN_PWM_FREQ)&&
gregeric	0:b9444a40a999	672	(newMaxSpeed <= L6474_MAX_PWM_FREQ) &&
gregeric	0:b9444a40a999	673	(devicePrm[deviceId].minSpeed <= newMaxSpeed) &&
gregeric	0:b9444a40a999	674	((devicePrm[deviceId].motionState == INACTIVE)\|\|
gregeric	0:b9444a40a999	675	(devicePrm[deviceId].commandExecuted == RUN_CMD)))
gregeric	0:b9444a40a999	676	{
gregeric	0:b9444a40a999	677	devicePrm[deviceId].maxSpeed = newMaxSpeed;
gregeric	0:b9444a40a999	678	cmdExecuted = TRUE;
gregeric	0:b9444a40a999	679	}
gregeric	0:b9444a40a999	680	return cmdExecuted;
gregeric	0:b9444a40a999	681	}
gregeric	0:b9444a40a999	682
gregeric	0:b9444a40a999	683	/****************************************************//
gregeric	0:b9444a40a999	684	* @brief Changes the min speed of the specified device
gregeric	0:b9444a40a999	685	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	686	* @param[in] newMinSpeed New min speed to apply in pps
gregeric	0:b9444a40a999	687	* @retval true if the command is successfully executed, else false
gregeric	0:b9444a40a999	688	* @note The command is not performed is the device is executing
gregeric	0:b9444a40a999	689	* a MOVE or GOTO command (but it can be used during a RUN command).
gregeric	0:b9444a40a999	690	**********************************************************/
gregeric	0:b9444a40a999	691	bool L6474_SetMinSpeed(uint8_t deviceId, uint16_t newMinSpeed)
gregeric	0:b9444a40a999	692	{
gregeric	0:b9444a40a999	693	bool cmdExecuted = FALSE;
gregeric	0:b9444a40a999	694	if ((newMinSpeed >= L6474_MIN_PWM_FREQ)&&
gregeric	0:b9444a40a999	695	(newMinSpeed <= L6474_MAX_PWM_FREQ) &&
gregeric	0:b9444a40a999	696	(newMinSpeed <= devicePrm[deviceId].maxSpeed) &&
gregeric	0:b9444a40a999	697	((devicePrm[deviceId].motionState == INACTIVE)\|\|
gregeric	0:b9444a40a999	698	(devicePrm[deviceId].commandExecuted == RUN_CMD)))
gregeric	0:b9444a40a999	699	{
gregeric	0:b9444a40a999	700	devicePrm[deviceId].minSpeed = newMinSpeed;
gregeric	0:b9444a40a999	701	cmdExecuted = TRUE;
gregeric	0:b9444a40a999	702	}
gregeric	0:b9444a40a999	703	return cmdExecuted;
gregeric	0:b9444a40a999	704	}
gregeric	0:b9444a40a999	705
gregeric	0:b9444a40a999	706	/****************************************************//
gregeric	0:b9444a40a999	707	* @brief Stops the motor by using the device deceleration
gregeric	0:b9444a40a999	708	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	709	* @retval true if the command is successfully executed, else false
gregeric	0:b9444a40a999	710	* @note The command is not performed is the device is in INACTIVE state.
gregeric	0:b9444a40a999	711	**********************************************************/
gregeric	0:b9444a40a999	712	bool L6474_SoftStop(uint8_t deviceId)
gregeric	0:b9444a40a999	713	{
gregeric	0:b9444a40a999	714	bool cmdExecuted = FALSE;
gregeric	0:b9444a40a999	715	if (devicePrm[deviceId].motionState != INACTIVE)
gregeric	0:b9444a40a999	716	{
gregeric	0:b9444a40a999	717	devicePrm[deviceId].commandExecuted = SOFT_STOP_CMD;
gregeric	0:b9444a40a999	718	cmdExecuted = TRUE;
gregeric	0:b9444a40a999	719	}
gregeric	0:b9444a40a999	720	return (cmdExecuted);
gregeric	0:b9444a40a999	721	}
gregeric	0:b9444a40a999	722
gregeric	0:b9444a40a999	723	/****************************************************//
gregeric	0:b9444a40a999	724	* @brief Locks until the device state becomes Inactive
gregeric	0:b9444a40a999	725	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	726	* @retval None
gregeric	0:b9444a40a999	727	**********************************************************/
gregeric	0:b9444a40a999	728	void L6474_WaitWhileActive(uint8_t deviceId)
gregeric	0:b9444a40a999	729	{
gregeric	0:b9444a40a999	730	/* Wait while motor is running */
gregeric	0:b9444a40a999	731	while (L6474_GetDeviceState(deviceId) != INACTIVE);
gregeric	0:b9444a40a999	732	}
gregeric	0:b9444a40a999	733
gregeric	0:b9444a40a999	734	/**
gregeric	0:b9444a40a999	735	* @}
gregeric	0:b9444a40a999	736	*/
gregeric	0:b9444a40a999	737
gregeric	0:b9444a40a999	738	/** @defgroup L6474_Control_Functions
gregeric	0:b9444a40a999	739	* @{
gregeric	0:b9444a40a999	740	*/
gregeric	0:b9444a40a999	741
gregeric	0:b9444a40a999	742	/****************************************************//
gregeric	0:b9444a40a999	743	* @brief Issue the Disable command to the L6474 of the specified device
gregeric	0:b9444a40a999	744	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	745	* @retval None
gregeric	0:b9444a40a999	746	**********************************************************/
gregeric	0:b9444a40a999	747	void L6474_CmdDisable(uint8_t deviceId)
gregeric	0:b9444a40a999	748	{
gregeric	0:b9444a40a999	749	L6474_SendCommand(deviceId, L6474_DISABLE);
gregeric	0:b9444a40a999	750	}
gregeric	0:b9444a40a999	751
gregeric	0:b9444a40a999	752	/****************************************************//
gregeric	0:b9444a40a999	753	* @brief Issues the Enable command to the L6474 of the specified device
gregeric	0:b9444a40a999	754	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	755	* @retval None
gregeric	0:b9444a40a999	756	**********************************************************/
gregeric	0:b9444a40a999	757	void L6474_CmdEnable(uint8_t deviceId)
gregeric	0:b9444a40a999	758	{
gregeric	0:b9444a40a999	759	L6474_SendCommand(deviceId, L6474_ENABLE);
gregeric	0:b9444a40a999	760	}
gregeric	0:b9444a40a999	761
gregeric	0:b9444a40a999	762	/****************************************************//
gregeric	0:b9444a40a999	763	* @brief Issues the GetParam command to the L6474 of the specified device
gregeric	0:b9444a40a999	764	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	765	* @param[in] param Register adress (L6474_ABS_POS, L6474_MARK,...)
gregeric	0:b9444a40a999	766	* @retval Register value
gregeric	0:b9444a40a999	767	**********************************************************/
gregeric	0:b9444a40a999	768	uint32_t L6474_CmdGetParam(uint8_t deviceId, uint32_t param)
gregeric	0:b9444a40a999	769	{
gregeric	0:b9444a40a999	770	uint32_t i;
gregeric	0:b9444a40a999	771	uint32_t spiRxData;
gregeric	0:b9444a40a999	772	uint8_t maxArgumentNbBytes = 0;
gregeric	0:b9444a40a999	773	uint8_t spiIndex = numberOfDevices - deviceId - 1;
gregeric	0:b9444a40a999	774	bool itDisable = FALSE;
gregeric	0:b9444a40a999	775
gregeric	0:b9444a40a999	776	do
gregeric	0:b9444a40a999	777	{
gregeric	0:b9444a40a999	778	spiPreemtionByIsr = FALSE;
gregeric	0:b9444a40a999	779	if (itDisable)
gregeric	0:b9444a40a999	780	{
gregeric	0:b9444a40a999	781	/* re-enable BSP_MotorControlBoard_EnableIrq if disable in previous iteration */
gregeric	0:b9444a40a999	782	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	783	itDisable = FALSE;
gregeric	0:b9444a40a999	784	}
gregeric	0:b9444a40a999	785
gregeric	0:b9444a40a999	786	for (i = 0; i < numberOfDevices; i++)
gregeric	0:b9444a40a999	787	{
gregeric	0:b9444a40a999	788	spiTxBursts[0][i] = L6474_NOP;
gregeric	0:b9444a40a999	789	spiTxBursts[1][i] = L6474_NOP;
gregeric	0:b9444a40a999	790	spiTxBursts[2][i] = L6474_NOP;
gregeric	0:b9444a40a999	791	spiTxBursts[3][i] = L6474_NOP;
gregeric	0:b9444a40a999	792	spiRxBursts[1][i] = 0;
gregeric	0:b9444a40a999	793	spiRxBursts[2][i] = 0;
gregeric	0:b9444a40a999	794	spiRxBursts[3][i] = 0;
gregeric	0:b9444a40a999	795	}
gregeric	0:b9444a40a999	796	switch (param)
gregeric	0:b9444a40a999	797	{
gregeric	0:b9444a40a999	798	case L6474_ABS_POS: ;
gregeric	0:b9444a40a999	799	case L6474_MARK:
gregeric	0:b9444a40a999	800	spiTxBursts[0][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (param);
gregeric	0:b9444a40a999	801	maxArgumentNbBytes = 3;
gregeric	0:b9444a40a999	802	break;
gregeric	0:b9444a40a999	803	case L6474_EL_POS: ;
gregeric	0:b9444a40a999	804	case L6474_CONFIG: ;
gregeric	0:b9444a40a999	805	case L6474_STATUS:
gregeric	0:b9444a40a999	806	spiTxBursts[1][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (param);
gregeric	0:b9444a40a999	807	maxArgumentNbBytes = 2;
gregeric	0:b9444a40a999	808	break;
gregeric	0:b9444a40a999	809	default:
gregeric	0:b9444a40a999	810	spiTxBursts[2][spiIndex] = ((uint8_t)L6474_GET_PARAM )\| (param);
gregeric	0:b9444a40a999	811	maxArgumentNbBytes = 1;
gregeric	0:b9444a40a999	812	}
gregeric	0:b9444a40a999	813
gregeric	0:b9444a40a999	814	/* Disable interruption before checking */
gregeric	0:b9444a40a999	815	/* pre-emption by ISR and SPI transfers*/
gregeric	0:b9444a40a999	816	BSP_MotorControlBoard_DisableIrq();
gregeric	0:b9444a40a999	817	itDisable = TRUE;
gregeric	0:b9444a40a999	818	} while (spiPreemtionByIsr); // check pre-emption by ISR
gregeric	0:b9444a40a999	819
gregeric	0:b9444a40a999	820	for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
gregeric	0:b9444a40a999	821	i < L6474_CMD_ARG_MAX_NB_BYTES;
gregeric	0:b9444a40a999	822	i++)
gregeric	0:b9444a40a999	823	{
gregeric	0:b9444a40a999	824	L6474_WriteBytes(&spiTxBursts[i][0],
gregeric	0:b9444a40a999	825	&spiRxBursts[i][0]);
gregeric	0:b9444a40a999	826	}
gregeric	0:b9444a40a999	827
gregeric	0:b9444a40a999	828	spiRxData = ((uint32_t)spiRxBursts[1][spiIndex] << 16)\|
gregeric	0:b9444a40a999	829	(spiRxBursts[2][spiIndex] << 8) \|
gregeric	0:b9444a40a999	830	(spiRxBursts[3][spiIndex]);
gregeric	0:b9444a40a999	831
gregeric	0:b9444a40a999	832	/* re-enable BSP_MotorControlBoard_EnableIrq after SPI transfers*/
gregeric	0:b9444a40a999	833	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	834
gregeric	0:b9444a40a999	835	return (spiRxData);
gregeric	0:b9444a40a999	836	}
gregeric	0:b9444a40a999	837
gregeric	0:b9444a40a999	838	/****************************************************//
gregeric	0:b9444a40a999	839	* @brief Issues the GetStatus command to the L6474 of the specified device
gregeric	0:b9444a40a999	840	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	841	* @retval Status Register value
gregeric	0:b9444a40a999	842	* @note Once the GetStatus command is performed, the flags of the status register
gregeric	0:b9444a40a999	843	* are reset. This is not the case when the status register is read with the
gregeric	0:b9444a40a999	844	* GetParam command (via the functions L6474ReadStatusRegister or L6474CmdGetParam).
gregeric	0:b9444a40a999	845	**********************************************************/
gregeric	0:b9444a40a999	846	uint16_t L6474_CmdGetStatus(uint8_t deviceId)
gregeric	0:b9444a40a999	847	{
gregeric	0:b9444a40a999	848	uint32_t i;
gregeric	0:b9444a40a999	849	uint16_t status;
gregeric	0:b9444a40a999	850	uint8_t spiIndex = numberOfDevices - deviceId - 1;
gregeric	0:b9444a40a999	851	bool itDisable = FALSE;
gregeric	0:b9444a40a999	852
gregeric	0:b9444a40a999	853	do
gregeric	0:b9444a40a999	854	{
gregeric	0:b9444a40a999	855	spiPreemtionByIsr = FALSE;
gregeric	0:b9444a40a999	856	if (itDisable)
gregeric	0:b9444a40a999	857	{
gregeric	0:b9444a40a999	858	/* re-enable BSP_MotorControlBoard_EnableIrq if disable in previous iteration */
gregeric	0:b9444a40a999	859	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	860	itDisable = FALSE;
gregeric	0:b9444a40a999	861	}
gregeric	0:b9444a40a999	862
gregeric	0:b9444a40a999	863	for (i = 0; i < numberOfDevices; i++)
gregeric	0:b9444a40a999	864	{
gregeric	0:b9444a40a999	865	spiTxBursts[0][i] = L6474_NOP;
gregeric	0:b9444a40a999	866	spiTxBursts[1][i] = L6474_NOP;
gregeric	0:b9444a40a999	867	spiTxBursts[2][i] = L6474_NOP;
gregeric	0:b9444a40a999	868	spiRxBursts[1][i] = 0;
gregeric	0:b9444a40a999	869	spiRxBursts[2][i] = 0;
gregeric	0:b9444a40a999	870	}
gregeric	0:b9444a40a999	871	spiTxBursts[0][spiIndex] = L6474_GET_STATUS;
gregeric	0:b9444a40a999	872
gregeric	0:b9444a40a999	873	/* Disable interruption before checking */
gregeric	0:b9444a40a999	874	/* pre-emption by ISR and SPI transfers*/
gregeric	0:b9444a40a999	875	BSP_MotorControlBoard_DisableIrq();
gregeric	0:b9444a40a999	876	itDisable = TRUE;
gregeric	0:b9444a40a999	877	} while (spiPreemtionByIsr); // check pre-emption by ISR
gregeric	0:b9444a40a999	878
gregeric	0:b9444a40a999	879	for (i = 0; i < L6474_CMD_ARG_NB_BYTES_GET_STATUS + L6474_RSP_NB_BYTES_GET_STATUS; i++)
gregeric	0:b9444a40a999	880	{
gregeric	0:b9444a40a999	881	L6474_WriteBytes(&spiTxBursts[i][0], &spiRxBursts[i][0]);
gregeric	0:b9444a40a999	882	}
gregeric	0:b9444a40a999	883	status = (spiRxBursts[1][spiIndex] << 8) \| (spiRxBursts[2][spiIndex]);
gregeric	0:b9444a40a999	884
gregeric	0:b9444a40a999	885	/* re-enable BSP_MotorControlBoard_EnableIrq after SPI transfers*/
gregeric	0:b9444a40a999	886	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	887
gregeric	0:b9444a40a999	888	return (status);
gregeric	0:b9444a40a999	889	}
gregeric	0:b9444a40a999	890
gregeric	0:b9444a40a999	891	/****************************************************//
gregeric	0:b9444a40a999	892	* @brief Issues the Nop command to the L6474 of the specified device
gregeric	0:b9444a40a999	893	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	894	* @retval None
gregeric	0:b9444a40a999	895	**********************************************************/
gregeric	0:b9444a40a999	896	void L6474_CmdNop(uint8_t deviceId)
gregeric	0:b9444a40a999	897	{
gregeric	0:b9444a40a999	898	L6474_SendCommand(deviceId, L6474_NOP);
gregeric	0:b9444a40a999	899	}
gregeric	0:b9444a40a999	900
gregeric	0:b9444a40a999	901	/****************************************************//
gregeric	0:b9444a40a999	902	* @brief Issues the SetParam command to the L6474 of the specified device
gregeric	0:b9444a40a999	903	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	904	* @param[in] param Register adress (L6474_ABS_POS, L6474_MARK,...)
gregeric	0:b9444a40a999	905	* @param[in] value Value to set in the register
gregeric	0:b9444a40a999	906	* @retval None
gregeric	0:b9444a40a999	907	**********************************************************/
gregeric	0:b9444a40a999	908	void L6474_CmdSetParam(uint8_t deviceId,
gregeric	0:b9444a40a999	909	uint32_t param,
gregeric	0:b9444a40a999	910	uint32_t value)
gregeric	0:b9444a40a999	911	{
gregeric	0:b9444a40a999	912	uint32_t i;
gregeric	0:b9444a40a999	913	uint8_t maxArgumentNbBytes = 0;
gregeric	0:b9444a40a999	914	uint8_t spiIndex = numberOfDevices - deviceId - 1;
gregeric	0:b9444a40a999	915	bool itDisable = FALSE;
gregeric	0:b9444a40a999	916	do
gregeric	0:b9444a40a999	917	{
gregeric	0:b9444a40a999	918	spiPreemtionByIsr = FALSE;
gregeric	0:b9444a40a999	919	if (itDisable)
gregeric	0:b9444a40a999	920	{
gregeric	0:b9444a40a999	921	/* re-enable BSP_MotorControlBoard_EnableIrq if disable in previous iteration */
gregeric	0:b9444a40a999	922	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	923	itDisable = FALSE;
gregeric	0:b9444a40a999	924	}
gregeric	0:b9444a40a999	925	for (i = 0; i < numberOfDevices; i++)
gregeric	0:b9444a40a999	926	{
gregeric	0:b9444a40a999	927	spiTxBursts[0][i] = L6474_NOP;
gregeric	0:b9444a40a999	928	spiTxBursts[1][i] = L6474_NOP;
gregeric	0:b9444a40a999	929	spiTxBursts[2][i] = L6474_NOP;
gregeric	0:b9444a40a999	930	spiTxBursts[3][i] = L6474_NOP;
gregeric	0:b9444a40a999	931	}
gregeric	0:b9444a40a999	932	switch (param)
gregeric	0:b9444a40a999	933	{
gregeric	0:b9444a40a999	934	case L6474_ABS_POS: ;
gregeric	0:b9444a40a999	935	case L6474_MARK:
gregeric	0:b9444a40a999	936	spiTxBursts[0][spiIndex] = param;
gregeric	0:b9444a40a999	937	spiTxBursts[1][spiIndex] = (uint8_t)(value >> 16);
gregeric	0:b9444a40a999	938	spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
gregeric	0:b9444a40a999	939	maxArgumentNbBytes = 3;
gregeric	0:b9444a40a999	940	break;
gregeric	0:b9444a40a999	941	case L6474_EL_POS: ;
gregeric	0:b9444a40a999	942	case L6474_CONFIG:
gregeric	0:b9444a40a999	943	spiTxBursts[1][spiIndex] = param;
gregeric	0:b9444a40a999	944	spiTxBursts[2][spiIndex] = (uint8_t)(value >> 8);
gregeric	0:b9444a40a999	945	maxArgumentNbBytes = 2;
gregeric	0:b9444a40a999	946	break;
gregeric	0:b9444a40a999	947	default:
gregeric	0:b9444a40a999	948	spiTxBursts[2][spiIndex] = param;
gregeric	0:b9444a40a999	949	maxArgumentNbBytes = 1;
gregeric	0:b9444a40a999	950	}
gregeric	0:b9444a40a999	951	spiTxBursts[3][spiIndex] = (uint8_t)(value);
gregeric	0:b9444a40a999	952
gregeric	0:b9444a40a999	953	/* Disable interruption before checking */
gregeric	0:b9444a40a999	954	/* pre-emption by ISR and SPI transfers*/
gregeric	0:b9444a40a999	955	BSP_MotorControlBoard_DisableIrq();
gregeric	0:b9444a40a999	956	itDisable = TRUE;
gregeric	0:b9444a40a999	957	} while (spiPreemtionByIsr); // check pre-emption by ISR
gregeric	0:b9444a40a999	958
gregeric	0:b9444a40a999	959	/* SPI transfer */
gregeric	0:b9444a40a999	960	for (i = L6474_CMD_ARG_MAX_NB_BYTES-1-maxArgumentNbBytes;
gregeric	0:b9444a40a999	961	i < L6474_CMD_ARG_MAX_NB_BYTES;
gregeric	0:b9444a40a999	962	i++)
gregeric	0:b9444a40a999	963	{
gregeric	0:b9444a40a999	964	L6474_WriteBytes(&spiTxBursts[i][0],&spiRxBursts[i][0]);
gregeric	0:b9444a40a999	965	}
gregeric	0:b9444a40a999	966	/* re-enable BSP_MotorControlBoard_EnableIrq after SPI transfers*/
gregeric	0:b9444a40a999	967	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	968	}
gregeric	0:b9444a40a999	969
gregeric	0:b9444a40a999	970	/****************************************************//
gregeric	0:b9444a40a999	971	* @brief Reads the Status Register value
gregeric	0:b9444a40a999	972	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	973	* @retval Status register valued
gregeric	0:b9444a40a999	974	* @note The status register flags are not cleared
gregeric	0:b9444a40a999	975	* at the difference with L6474CmdGetStatus()
gregeric	0:b9444a40a999	976	**********************************************************/
gregeric	0:b9444a40a999	977	uint16_t L6474_ReadStatusRegister(uint8_t deviceId)
gregeric	0:b9444a40a999	978	{
gregeric	0:b9444a40a999	979	return (L6474_CmdGetParam(deviceId,L6474_STATUS));
gregeric	0:b9444a40a999	980	}
gregeric	0:b9444a40a999	981
gregeric	0:b9444a40a999	982	/****************************************************//
gregeric	0:b9444a40a999	983	* @brief Releases the L6474 reset (pin set to High) of all devices
gregeric	0:b9444a40a999	984	* @param None
gregeric	0:b9444a40a999	985	* @retval None
gregeric	0:b9444a40a999	986	**********************************************************/
gregeric	0:b9444a40a999	987	void L6474_ReleaseReset(void)
gregeric	0:b9444a40a999	988	{
gregeric	0:b9444a40a999	989	BSP_MotorControlBoard_ReleaseReset();
gregeric	0:b9444a40a999	990	}
gregeric	0:b9444a40a999	991
gregeric	0:b9444a40a999	992	/****************************************************//
gregeric	0:b9444a40a999	993	* @brief Resets the L6474 (reset pin set to low) of all devices
gregeric	0:b9444a40a999	994	* @param None
gregeric	0:b9444a40a999	995	* @retval None
gregeric	0:b9444a40a999	996	**********************************************************/
gregeric	0:b9444a40a999	997	void L6474_Reset(void)
gregeric	0:b9444a40a999	998	{
gregeric	0:b9444a40a999	999	BSP_MotorControlBoard_Reset();
gregeric	0:b9444a40a999	1000	}
gregeric	0:b9444a40a999	1001
gregeric	0:b9444a40a999	1002	/****************************************************//
gregeric	0:b9444a40a999	1003	* @brief Set the stepping mode
gregeric	0:b9444a40a999	1004	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1005	* @param[in] stepMod from full step to 1/16 microstep as specified in enum motorStepMode_t
gregeric	0:b9444a40a999	1006	* @retval None
gregeric	0:b9444a40a999	1007	**********************************************************/
gregeric	0:b9444a40a999	1008	void L6474_SelectStepMode(uint8_t deviceId, motorStepMode_t stepMod)
gregeric	0:b9444a40a999	1009	{
gregeric	0:b9444a40a999	1010	uint8_t stepModeRegister;
gregeric	0:b9444a40a999	1011	L6474_STEP_SEL_t l6474StepMod;
gregeric	0:b9444a40a999	1012
gregeric	0:b9444a40a999	1013	switch (stepMod)
gregeric	0:b9444a40a999	1014	{
gregeric	0:b9444a40a999	1015	case STEP_MODE_FULL:
gregeric	0:b9444a40a999	1016	l6474StepMod = L6474_STEP_SEL_1;
gregeric	0:b9444a40a999	1017	break;
gregeric	0:b9444a40a999	1018	case STEP_MODE_HALF:
gregeric	0:b9444a40a999	1019	l6474StepMod = L6474_STEP_SEL_1_2;
gregeric	0:b9444a40a999	1020	break;
gregeric	0:b9444a40a999	1021	case STEP_MODE_1_4:
gregeric	0:b9444a40a999	1022	l6474StepMod = L6474_STEP_SEL_1_4;
gregeric	0:b9444a40a999	1023	break;
gregeric	0:b9444a40a999	1024	case STEP_MODE_1_8:
gregeric	0:b9444a40a999	1025	l6474StepMod = L6474_STEP_SEL_1_8;
gregeric	0:b9444a40a999	1026	break;
gregeric	0:b9444a40a999	1027	case STEP_MODE_1_16:
gregeric	0:b9444a40a999	1028	default:
gregeric	0:b9444a40a999	1029	l6474StepMod = L6474_STEP_SEL_1_16;
gregeric	0:b9444a40a999	1030	break;
gregeric	0:b9444a40a999	1031	}
gregeric	0:b9444a40a999	1032
gregeric	0:b9444a40a999	1033	/* Eventually deactivate motor */
gregeric	0:b9444a40a999	1034	if (devicePrm[deviceId].motionState != INACTIVE)
gregeric	0:b9444a40a999	1035	{
gregeric	0:b9444a40a999	1036	L6474_HardStop(deviceId);
gregeric	0:b9444a40a999	1037	}
gregeric	0:b9444a40a999	1038
gregeric	0:b9444a40a999	1039	/* Read Step mode register and clear STEP_SEL field */
gregeric	0:b9444a40a999	1040	stepModeRegister = (uint8_t)(0xF8 & L6474_CmdGetParam(deviceId,L6474_STEP_MODE)) ;
gregeric	0:b9444a40a999	1041
gregeric	0:b9444a40a999	1042	/* Apply new step mode */
gregeric	0:b9444a40a999	1043	L6474_CmdSetParam(deviceId, L6474_STEP_MODE, stepModeRegister \| (uint8_t)l6474StepMod);
gregeric	0:b9444a40a999	1044
gregeric	0:b9444a40a999	1045	/* Reset abs pos register */
gregeric	0:b9444a40a999	1046	L6474_SetHome(deviceId);
gregeric	0:b9444a40a999	1047	}
gregeric	0:b9444a40a999	1048
gregeric	0:b9444a40a999	1049	/****************************************************//
gregeric	0:b9444a40a999	1050	* @brief Specifies the direction
gregeric	0:b9444a40a999	1051	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1052	* @param[in] dir FORWARD or BACKWARD
gregeric	0:b9444a40a999	1053	* @note The direction change is only applied if the device
gregeric	0:b9444a40a999	1054	* is in INACTIVE state
gregeric	0:b9444a40a999	1055	* @retval None
gregeric	0:b9444a40a999	1056	**********************************************************/
gregeric	0:b9444a40a999	1057	void L6474_SetDirection(uint8_t deviceId, motorDir_t dir)
gregeric	0:b9444a40a999	1058	{
gregeric	0:b9444a40a999	1059	if (devicePrm[deviceId].motionState == INACTIVE)
gregeric	0:b9444a40a999	1060	{
gregeric	0:b9444a40a999	1061	devicePrm[deviceId].direction = dir;
gregeric	0:b9444a40a999	1062	BSP_MotorControlBoard_SetDirectionGpio(deviceId, dir);
gregeric	0:b9444a40a999	1063	}
gregeric	0:b9444a40a999	1064	}
gregeric	0:b9444a40a999	1065
gregeric	0:b9444a40a999	1066	/**
gregeric	0:b9444a40a999	1067	* @}
gregeric	0:b9444a40a999	1068	*/
gregeric	0:b9444a40a999	1069
gregeric	0:b9444a40a999	1070	/** @addtogroup L6474_Private_functions
gregeric	0:b9444a40a999	1071	* @{
gregeric	0:b9444a40a999	1072	*/
gregeric	0:b9444a40a999	1073
gregeric	0:b9444a40a999	1074	/****************************************************//
gregeric	0:b9444a40a999	1075	* @brief Updates the current speed of the device
gregeric	0:b9444a40a999	1076	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1077	* @param[in] newSpeed in pps
gregeric	0:b9444a40a999	1078	* @retval None
gregeric	0:b9444a40a999	1079	**********************************************************/
gregeric	0:b9444a40a999	1080	void L6474_ApplySpeed(uint8_t deviceId, uint16_t newSpeed)
gregeric	0:b9444a40a999	1081	{
gregeric	0:b9444a40a999	1082	if (newSpeed < L6474_MIN_PWM_FREQ)
gregeric	0:b9444a40a999	1083	{
gregeric	0:b9444a40a999	1084	newSpeed = L6474_MIN_PWM_FREQ;
gregeric	0:b9444a40a999	1085	}
gregeric	0:b9444a40a999	1086	if (newSpeed > L6474_MAX_PWM_FREQ)
gregeric	0:b9444a40a999	1087	{
gregeric	0:b9444a40a999	1088	newSpeed = L6474_MAX_PWM_FREQ;
gregeric	0:b9444a40a999	1089	}
gregeric	0:b9444a40a999	1090
gregeric	0:b9444a40a999	1091	devicePrm[deviceId].speed = newSpeed;
gregeric	0:b9444a40a999	1092
gregeric	0:b9444a40a999	1093	switch (deviceId)
gregeric	0:b9444a40a999	1094	{
gregeric	0:b9444a40a999	1095	case 0:
gregeric	0:b9444a40a999	1096	BSP_MotorControlBoard_Pwm1SetFreq(newSpeed);
gregeric	0:b9444a40a999	1097	break;
gregeric	0:b9444a40a999	1098	case 1:
gregeric	0:b9444a40a999	1099	BSP_MotorControlBoard_Pwm2SetFreq(newSpeed);
gregeric	0:b9444a40a999	1100	break;
gregeric	0:b9444a40a999	1101	case 2:
gregeric	0:b9444a40a999	1102	BSP_MotorControlBoard_Pwm3SetFreq(newSpeed);
gregeric	0:b9444a40a999	1103	break;
gregeric	0:b9444a40a999	1104	default:
gregeric	0:b9444a40a999	1105	break; //ignore error
gregeric	0:b9444a40a999	1106	}
gregeric	0:b9444a40a999	1107	}
gregeric	0:b9444a40a999	1108
gregeric	0:b9444a40a999	1109	/****************************************************//
gregeric	0:b9444a40a999	1110	* @brief Computes the speed profile according to the number of steps to move
gregeric	0:b9444a40a999	1111	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1112	* @param[in] nbSteps number of steps to perform
gregeric	0:b9444a40a999	1113	* @retval None
gregeric	0:b9444a40a999	1114	* @note Using the acceleration and deceleration of the device,
gregeric	0:b9444a40a999	1115	* this function determines the duration in steps of the acceleration,
gregeric	0:b9444a40a999	1116	* steady and deceleration phases.
gregeric	0:b9444a40a999	1117	* If the total number of steps to perform is big enough, a trapezoidal move
gregeric	0:b9444a40a999	1118	* is performed (i.e. there is a steady phase where the motor runs at the maximum
gregeric	0:b9444a40a999	1119	* speed.
gregeric	0:b9444a40a999	1120	* Else, a triangular move is performed (no steady phase: the maximum speed is never
gregeric	0:b9444a40a999	1121	* reached.
gregeric	0:b9444a40a999	1122	**********************************************************/
gregeric	0:b9444a40a999	1123	void L6474_ComputeSpeedProfile(uint8_t deviceId, uint32_t nbSteps)
gregeric	0:b9444a40a999	1124	{
gregeric	0:b9444a40a999	1125	uint32_t reqAccSteps;
gregeric	0:b9444a40a999	1126	uint32_t reqDecSteps;
gregeric	0:b9444a40a999	1127
gregeric	0:b9444a40a999	1128	/* compute the number of steps to get the targeted speed */
gregeric	0:b9444a40a999	1129	uint16_t minSpeed = devicePrm[deviceId].minSpeed;
gregeric	0:b9444a40a999	1130	reqAccSteps = (devicePrm[deviceId].maxSpeed - minSpeed);
gregeric	0:b9444a40a999	1131	reqAccSteps *= (devicePrm[deviceId].maxSpeed + minSpeed);
gregeric	0:b9444a40a999	1132	reqDecSteps = reqAccSteps;
gregeric	0:b9444a40a999	1133	reqAccSteps /= (uint32_t)devicePrm[deviceId].acceleration;
gregeric	0:b9444a40a999	1134	reqAccSteps /= 2;
gregeric	0:b9444a40a999	1135
gregeric	0:b9444a40a999	1136	/* compute the number of steps to stop */
gregeric	0:b9444a40a999	1137	reqDecSteps /= (uint32_t)devicePrm[deviceId].deceleration;
gregeric	0:b9444a40a999	1138	reqDecSteps /= 2;
gregeric	0:b9444a40a999	1139
gregeric	0:b9444a40a999	1140	if(( reqAccSteps + reqDecSteps ) > nbSteps)
gregeric	0:b9444a40a999	1141	{
gregeric	0:b9444a40a999	1142	/* Triangular move */
gregeric	0:b9444a40a999	1143	/* reqDecSteps = (Pos * Dec) /(Dec+Acc) */
gregeric	0:b9444a40a999	1144	uint32_t dec = devicePrm[deviceId].deceleration;
gregeric	0:b9444a40a999	1145	uint32_t acc = devicePrm[deviceId].acceleration;
gregeric	0:b9444a40a999	1146
gregeric	0:b9444a40a999	1147	reqDecSteps = ((uint32_t) dec * nbSteps) / (acc + dec);
gregeric	0:b9444a40a999	1148	if (reqDecSteps > 1)
gregeric	0:b9444a40a999	1149	{
gregeric	0:b9444a40a999	1150	reqAccSteps = reqDecSteps - 1;
gregeric	0:b9444a40a999	1151	if(reqAccSteps == 0)
gregeric	0:b9444a40a999	1152	{
gregeric	0:b9444a40a999	1153	reqAccSteps = 1;
gregeric	0:b9444a40a999	1154	}
gregeric	0:b9444a40a999	1155	}
gregeric	0:b9444a40a999	1156	else
gregeric	0:b9444a40a999	1157	{
gregeric	0:b9444a40a999	1158	reqAccSteps = 0;
gregeric	0:b9444a40a999	1159	}
gregeric	0:b9444a40a999	1160	devicePrm[deviceId].endAccPos = reqAccSteps;
gregeric	0:b9444a40a999	1161	devicePrm[deviceId].startDecPos = reqDecSteps;
gregeric	0:b9444a40a999	1162	}
gregeric	0:b9444a40a999	1163	else
gregeric	0:b9444a40a999	1164	{
gregeric	0:b9444a40a999	1165	/* Trapezoidal move */
gregeric	0:b9444a40a999	1166	/* accelerating phase to endAccPos */
gregeric	0:b9444a40a999	1167	/* steady phase from endAccPos to startDecPos */
gregeric	0:b9444a40a999	1168	/* decelerating from startDecPos to stepsToTake*/
gregeric	0:b9444a40a999	1169	devicePrm[deviceId].endAccPos = reqAccSteps;
gregeric	0:b9444a40a999	1170	devicePrm[deviceId].startDecPos = nbSteps - reqDecSteps - 1;
gregeric	0:b9444a40a999	1171	}
gregeric	0:b9444a40a999	1172	}
gregeric	0:b9444a40a999	1173
gregeric	0:b9444a40a999	1174	/****************************************************//
gregeric	0:b9444a40a999	1175	* @brief Converts the ABS_POSITION register value to a 32b signed integer
gregeric	0:b9444a40a999	1176	* @param[in] abs_position_reg value of the ABS_POSITION register
gregeric	0:b9444a40a999	1177	* @retval operation_result 32b signed integer corresponding to the absolute position
gregeric	0:b9444a40a999	1178	**********************************************************/
gregeric	0:b9444a40a999	1179	int32_t L6474_ConvertPosition(uint32_t abs_position_reg)
gregeric	0:b9444a40a999	1180	{
gregeric	0:b9444a40a999	1181	int32_t operation_result;
gregeric	0:b9444a40a999	1182
gregeric	0:b9444a40a999	1183	if (abs_position_reg & L6474_ABS_POS_SIGN_BIT_MASK)
gregeric	0:b9444a40a999	1184	{
gregeric	0:b9444a40a999	1185	/* Negative register value */
gregeric	0:b9444a40a999	1186	abs_position_reg = ~abs_position_reg;
gregeric	0:b9444a40a999	1187	abs_position_reg += 1;
gregeric	0:b9444a40a999	1188
gregeric	0:b9444a40a999	1189	operation_result = (int32_t) (abs_position_reg & L6474_ABS_POS_VALUE_MASK);
gregeric	0:b9444a40a999	1190	operation_result = -operation_result;
gregeric	0:b9444a40a999	1191	}
gregeric	0:b9444a40a999	1192	else
gregeric	0:b9444a40a999	1193	{
gregeric	0:b9444a40a999	1194	operation_result = (int32_t) abs_position_reg;
gregeric	0:b9444a40a999	1195	}
gregeric	0:b9444a40a999	1196	return operation_result;
gregeric	0:b9444a40a999	1197	}
gregeric	0:b9444a40a999	1198
gregeric	0:b9444a40a999	1199	/****************************************************//
gregeric	0:b9444a40a999	1200	* @brief Error handler which calls the user callback (if defined)
gregeric	0:b9444a40a999	1201	* @param[in] error Number of the error
gregeric	0:b9444a40a999	1202	* @retval None
gregeric	0:b9444a40a999	1203	**********************************************************/
gregeric	0:b9444a40a999	1204	void L6474_ErrorHandler(uint16_t error)
gregeric	0:b9444a40a999	1205	{
gregeric	0:b9444a40a999	1206	if (errorHandlerCallback != 0)
gregeric	0:b9444a40a999	1207	{
gregeric	0:b9444a40a999	1208	(void) errorHandlerCallback(error);
gregeric	0:b9444a40a999	1209	}
gregeric	0:b9444a40a999	1210	else
gregeric	0:b9444a40a999	1211	{
gregeric	0:b9444a40a999	1212	while(1)
gregeric	0:b9444a40a999	1213	{
gregeric	0:b9444a40a999	1214	/* Infinite loop */
gregeric	0:b9444a40a999	1215	}
gregeric	0:b9444a40a999	1216	}
gregeric	0:b9444a40a999	1217	}
gregeric	0:b9444a40a999	1218
gregeric	0:b9444a40a999	1219	/****************************************************//
gregeric	0:b9444a40a999	1220	* @brief Handlers of the flag interrupt which calls the user callback (if defined)
gregeric	0:b9444a40a999	1221	* @param None
gregeric	0:b9444a40a999	1222	* @retval None
gregeric	0:b9444a40a999	1223	**********************************************************/
gregeric	0:b9444a40a999	1224	void L6474_FlagInterruptHandler(void)
gregeric	0:b9444a40a999	1225	{
gregeric	0:b9444a40a999	1226	if (flagInterruptCallback != 0)
gregeric	0:b9444a40a999	1227	{
gregeric	0:b9444a40a999	1228	/* Set isr flag */
gregeric	0:b9444a40a999	1229	isrFlag = TRUE;
gregeric	0:b9444a40a999	1230
gregeric	0:b9444a40a999	1231	flagInterruptCallback();
gregeric	0:b9444a40a999	1232
gregeric	0:b9444a40a999	1233	/* Reset isr flag */
gregeric	0:b9444a40a999	1234	isrFlag = FALSE;
gregeric	0:b9444a40a999	1235	}
gregeric	0:b9444a40a999	1236	}
gregeric	0:b9444a40a999	1237
gregeric	0:b9444a40a999	1238	/****************************************************//
gregeric	0:b9444a40a999	1239	* @brief Sends a command without arguments to the L6474 via the SPI
gregeric	0:b9444a40a999	1240	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1241	* @param[in] param Command to send
gregeric	0:b9444a40a999	1242	* @retval None
gregeric	0:b9444a40a999	1243	**********************************************************/
gregeric	0:b9444a40a999	1244	void L6474_SendCommand(uint8_t deviceId, uint8_t param)
gregeric	0:b9444a40a999	1245	{
gregeric	0:b9444a40a999	1246	uint32_t i;
gregeric	0:b9444a40a999	1247	uint8_t spiIndex = numberOfDevices - deviceId - 1;
gregeric	0:b9444a40a999	1248	bool itDisable = FALSE;
gregeric	0:b9444a40a999	1249
gregeric	0:b9444a40a999	1250	do
gregeric	0:b9444a40a999	1251	{
gregeric	0:b9444a40a999	1252	spiPreemtionByIsr = FALSE;
gregeric	0:b9444a40a999	1253	if (itDisable)
gregeric	0:b9444a40a999	1254	{
gregeric	0:b9444a40a999	1255	/* re-enable BSP_MotorControlBoard_EnableIrq if disable in previous iteration */
gregeric	0:b9444a40a999	1256	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	1257	itDisable = FALSE;
gregeric	0:b9444a40a999	1258	}
gregeric	0:b9444a40a999	1259
gregeric	0:b9444a40a999	1260	for (i = 0; i < numberOfDevices; i++)
gregeric	0:b9444a40a999	1261	{
gregeric	0:b9444a40a999	1262	spiTxBursts[3][i] = L6474_NOP;
gregeric	0:b9444a40a999	1263	}
gregeric	0:b9444a40a999	1264	spiTxBursts[3][spiIndex] = param;
gregeric	0:b9444a40a999	1265
gregeric	0:b9444a40a999	1266	/* Disable interruption before checking */
gregeric	0:b9444a40a999	1267	/* pre-emption by ISR and SPI transfers*/
gregeric	0:b9444a40a999	1268	BSP_MotorControlBoard_DisableIrq();
gregeric	0:b9444a40a999	1269	itDisable = TRUE;
gregeric	0:b9444a40a999	1270	} while (spiPreemtionByIsr); // check pre-emption by ISR
gregeric	0:b9444a40a999	1271
gregeric	0:b9444a40a999	1272	L6474_WriteBytes(&spiTxBursts[3][0], &spiRxBursts[3][0]);
gregeric	0:b9444a40a999	1273
gregeric	0:b9444a40a999	1274	/* re-enable BSP_MotorControlBoard_EnableIrq after SPI transfers*/
gregeric	0:b9444a40a999	1275	BSP_MotorControlBoard_EnableIrq();
gregeric	0:b9444a40a999	1276	}
gregeric	0:b9444a40a999	1277
gregeric	0:b9444a40a999	1278	/****************************************************//
gregeric	0:b9444a40a999	1279	* @brief Sets the registers of the L6474 to their predefined values
gregeric	0:b9444a40a999	1280	* from l6474_target_config.h
gregeric	0:b9444a40a999	1281	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1282	* @retval None
gregeric	0:b9444a40a999	1283	**********************************************************/
gregeric	0:b9444a40a999	1284	void L6474_SetRegisterToPredefinedValues(uint8_t deviceId)
gregeric	0:b9444a40a999	1285	{
gregeric	0:b9444a40a999	1286	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1287	L6474_ABS_POS,
gregeric	0:b9444a40a999	1288	0);
gregeric	0:b9444a40a999	1289	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1290	L6474_EL_POS,
gregeric	0:b9444a40a999	1291	0);
gregeric	0:b9444a40a999	1292	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1293	L6474_MARK,
gregeric	0:b9444a40a999	1294	0);
gregeric	0:b9444a40a999	1295	switch (deviceId)
gregeric	0:b9444a40a999	1296	{
gregeric	0:b9444a40a999	1297	case 0:
gregeric	0:b9444a40a999	1298	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1299	L6474_TVAL,
gregeric	0:b9444a40a999	1300	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
gregeric	0:b9444a40a999	1301	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1302	L6474_T_FAST,
gregeric	0:b9444a40a999	1303	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_0 \|
gregeric	0:b9444a40a999	1304	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_0);
gregeric	0:b9444a40a999	1305	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1306	L6474_TON_MIN,
gregeric	0:b9444a40a999	1307	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_0)
gregeric	0:b9444a40a999	1308	);
gregeric	0:b9444a40a999	1309	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1310	L6474_TOFF_MIN,
gregeric	0:b9444a40a999	1311	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_0));
gregeric	0:b9444a40a999	1312	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1313	L6474_OCD_TH,
gregeric	0:b9444a40a999	1314	L6474_CONF_PARAM_OCD_TH_DEVICE_0);
gregeric	0:b9444a40a999	1315	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1316	L6474_STEP_MODE,
gregeric	0:b9444a40a999	1317	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_0 \|
gregeric	0:b9444a40a999	1318	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_0);
gregeric	0:b9444a40a999	1319	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1320	L6474_ALARM_EN,
gregeric	0:b9444a40a999	1321	L6474_CONF_PARAM_ALARM_EN_DEVICE_0);
gregeric	0:b9444a40a999	1322	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1323	L6474_CONFIG,
gregeric	0:b9444a40a999	1324	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_0 \|
gregeric	0:b9444a40a999	1325	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_0 \|
gregeric	0:b9444a40a999	1326	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_0 \|
gregeric	0:b9444a40a999	1327	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_0 \|
gregeric	0:b9444a40a999	1328	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_0);
gregeric	0:b9444a40a999	1329	break;
gregeric	0:b9444a40a999	1330	case 1:
gregeric	0:b9444a40a999	1331	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1332	L6474_TVAL,
gregeric	0:b9444a40a999	1333	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
gregeric	0:b9444a40a999	1334	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1335	L6474_T_FAST,
gregeric	0:b9444a40a999	1336	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_1 \|
gregeric	0:b9444a40a999	1337	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_1);
gregeric	0:b9444a40a999	1338	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1339	L6474_TON_MIN,
gregeric	0:b9444a40a999	1340	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_1));
gregeric	0:b9444a40a999	1341	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1342	L6474_TOFF_MIN,
gregeric	0:b9444a40a999	1343	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_1));
gregeric	0:b9444a40a999	1344	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1345	L6474_OCD_TH,
gregeric	0:b9444a40a999	1346	L6474_CONF_PARAM_OCD_TH_DEVICE_1);
gregeric	0:b9444a40a999	1347	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1348	L6474_STEP_MODE,
gregeric	0:b9444a40a999	1349	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_1 \|
gregeric	0:b9444a40a999	1350	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_1);
gregeric	0:b9444a40a999	1351	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1352	L6474_ALARM_EN,
gregeric	0:b9444a40a999	1353	L6474_CONF_PARAM_ALARM_EN_DEVICE_1);
gregeric	0:b9444a40a999	1354	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1355	L6474_CONFIG,
gregeric	0:b9444a40a999	1356	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_1 \|
gregeric	0:b9444a40a999	1357	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_1 \|
gregeric	0:b9444a40a999	1358	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_1 \|
gregeric	0:b9444a40a999	1359	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_1 \|
gregeric	0:b9444a40a999	1360	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_1);
gregeric	0:b9444a40a999	1361	break;
gregeric	0:b9444a40a999	1362	case 2:
gregeric	0:b9444a40a999	1363	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1364	L6474_TVAL,
gregeric	0:b9444a40a999	1365	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
gregeric	0:b9444a40a999	1366	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1367	L6474_T_FAST,
gregeric	0:b9444a40a999	1368	(uint8_t)L6474_CONF_PARAM_TOFF_FAST_DEVICE_2 \|
gregeric	0:b9444a40a999	1369	(uint8_t)L6474_CONF_PARAM_FAST_STEP_DEVICE_2);
gregeric	0:b9444a40a999	1370	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1371	L6474_TON_MIN,
gregeric	0:b9444a40a999	1372	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TON_MIN_DEVICE_2));
gregeric	0:b9444a40a999	1373	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1374	L6474_TOFF_MIN,
gregeric	0:b9444a40a999	1375	L6474_Tmin_Time_to_Par(L6474_CONF_PARAM_TOFF_MIN_DEVICE_2));
gregeric	0:b9444a40a999	1376	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1377	L6474_OCD_TH,
gregeric	0:b9444a40a999	1378	L6474_CONF_PARAM_OCD_TH_DEVICE_2);
gregeric	0:b9444a40a999	1379	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1380	L6474_STEP_MODE,
gregeric	0:b9444a40a999	1381	(uint8_t)L6474_CONF_PARAM_STEP_SEL_DEVICE_2 \|
gregeric	0:b9444a40a999	1382	(uint8_t)L6474_CONF_PARAM_SYNC_SEL_DEVICE_2);
gregeric	0:b9444a40a999	1383	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1384	L6474_ALARM_EN,
gregeric	0:b9444a40a999	1385	L6474_CONF_PARAM_ALARM_EN_DEVICE_2);
gregeric	0:b9444a40a999	1386	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1387	L6474_CONFIG,
gregeric	0:b9444a40a999	1388	(uint16_t)L6474_CONF_PARAM_CLOCK_SETTING_DEVICE_2 \|
gregeric	0:b9444a40a999	1389	(uint16_t)L6474_CONF_PARAM_TQ_REG_DEVICE_2 \|
gregeric	0:b9444a40a999	1390	(uint16_t)L6474_CONF_PARAM_OC_SD_DEVICE_2 \|
gregeric	0:b9444a40a999	1391	(uint16_t)L6474_CONF_PARAM_SR_DEVICE_2 \|
gregeric	0:b9444a40a999	1392	(uint16_t)L6474_CONF_PARAM_TOFF_DEVICE_2);
gregeric	0:b9444a40a999	1393	break;
gregeric	0:b9444a40a999	1394	default: ;
gregeric	0:b9444a40a999	1395	}
gregeric	0:b9444a40a999	1396	}
gregeric	0:b9444a40a999	1397
gregeric	0:b9444a40a999	1398	/****************************************************//
gregeric	0:b9444a40a999	1399	* @brief Sets the parameters of the device to predefined values
gregeric	0:b9444a40a999	1400	* from l6474_target_config.h
gregeric	0:b9444a40a999	1401	* @param None
gregeric	0:b9444a40a999	1402	* @retval None
gregeric	0:b9444a40a999	1403	**********************************************************/
gregeric	0:b9444a40a999	1404	void L6474_SetDeviceParamsToPredefinedValues(void)
gregeric	0:b9444a40a999	1405	{
gregeric	0:b9444a40a999	1406	uint32_t i;
gregeric	0:b9444a40a999	1407
gregeric	0:b9444a40a999	1408	devicePrm[0].acceleration = L6474_CONF_PARAM_ACC_DEVICE_0;
gregeric	0:b9444a40a999	1409	devicePrm[0].deceleration = L6474_CONF_PARAM_DEC_DEVICE_0;
gregeric	0:b9444a40a999	1410	devicePrm[0].maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_0;
gregeric	0:b9444a40a999	1411	devicePrm[0].minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_0;
gregeric	0:b9444a40a999	1412
gregeric	0:b9444a40a999	1413	devicePrm[1].acceleration = L6474_CONF_PARAM_ACC_DEVICE_1;
gregeric	0:b9444a40a999	1414	devicePrm[1].deceleration = L6474_CONF_PARAM_DEC_DEVICE_1;
gregeric	0:b9444a40a999	1415	devicePrm[1].maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_1;
gregeric	0:b9444a40a999	1416	devicePrm[1].minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_1;
gregeric	0:b9444a40a999	1417
gregeric	0:b9444a40a999	1418	devicePrm[2].acceleration = L6474_CONF_PARAM_ACC_DEVICE_2;
gregeric	0:b9444a40a999	1419	devicePrm[2].deceleration = L6474_CONF_PARAM_DEC_DEVICE_2;
gregeric	0:b9444a40a999	1420	devicePrm[2].maxSpeed = L6474_CONF_PARAM_MAX_SPEED_DEVICE_2;
gregeric	0:b9444a40a999	1421	devicePrm[2].minSpeed = L6474_CONF_PARAM_MIN_SPEED_DEVICE_2;
gregeric	0:b9444a40a999	1422
gregeric	0:b9444a40a999	1423	for (i = 0; i < MAX_NUMBER_OF_DEVICES; i++)
gregeric	0:b9444a40a999	1424	{
gregeric	0:b9444a40a999	1425	devicePrm[i].accu = 0;
gregeric	0:b9444a40a999	1426	devicePrm[i].currentPosition = 0;
gregeric	0:b9444a40a999	1427	devicePrm[i].endAccPos = 0;
gregeric	0:b9444a40a999	1428	devicePrm[i].relativePos = 0;
gregeric	0:b9444a40a999	1429	devicePrm[i].startDecPos = 0;
gregeric	0:b9444a40a999	1430	devicePrm[i].stepsToTake = 0;
gregeric	0:b9444a40a999	1431	devicePrm[i].speed = 0;
gregeric	0:b9444a40a999	1432	devicePrm[i].commandExecuted = NO_CMD;
gregeric	0:b9444a40a999	1433	devicePrm[i].direction = FORWARD;
gregeric	0:b9444a40a999	1434	devicePrm[i].motionState = INACTIVE;
gregeric	0:b9444a40a999	1435	}
gregeric	0:b9444a40a999	1436
gregeric	0:b9444a40a999	1437	for (i = 0; i < numberOfDevices; i++)
gregeric	0:b9444a40a999	1438	{
gregeric	0:b9444a40a999	1439	L6474_SetRegisterToPredefinedValues(i);
gregeric	0:b9444a40a999	1440	}
gregeric	0:b9444a40a999	1441	}
gregeric	0:b9444a40a999	1442
gregeric	0:b9444a40a999	1443	/****************************************************//
gregeric	0:b9444a40a999	1444	* @brief Initialises the bridge parameters to start the movement
gregeric	0:b9444a40a999	1445	* and enable the power bridge
gregeric	0:b9444a40a999	1446	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1447	* @retval None
gregeric	0:b9444a40a999	1448	**********************************************************/
gregeric	0:b9444a40a999	1449	void L6474_StartMovement(uint8_t deviceId)
gregeric	0:b9444a40a999	1450	{
gregeric	0:b9444a40a999	1451	#ifdef L6474_CONF_BRAKE_WHEN_HALTED
gregeric	0:b9444a40a999	1452	/* Restore powerstage to full current capability */
gregeric	0:b9444a40a999	1453	switch (deviceId)
gregeric	0:b9444a40a999	1454	{
gregeric	0:b9444a40a999	1455	case 0:
gregeric	0:b9444a40a999	1456	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1457	L6474_TVAL,
gregeric	0:b9444a40a999	1458	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_0));
gregeric	0:b9444a40a999	1459	break;
gregeric	0:b9444a40a999	1460	case 1:
gregeric	0:b9444a40a999	1461	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1462	L6474_TVAL,
gregeric	0:b9444a40a999	1463	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_1));
gregeric	0:b9444a40a999	1464	break;
gregeric	0:b9444a40a999	1465	case 2:
gregeric	0:b9444a40a999	1466	L6474_CmdSetParam(deviceId,
gregeric	0:b9444a40a999	1467	L6474_TVAL,
gregeric	0:b9444a40a999	1468	L6474_Tval_Current_to_Par(L6474_CONF_PARAM_TVAL_DEVICE_2));
gregeric	0:b9444a40a999	1469	break;
gregeric	0:b9444a40a999	1470	default: ;
gregeric	0:b9444a40a999	1471	}
gregeric	0:b9444a40a999	1472	#endif
gregeric	0:b9444a40a999	1473
gregeric	0:b9444a40a999	1474	/* Enable L6474 powerstage */
gregeric	0:b9444a40a999	1475	L6474_CmdEnable(deviceId);
gregeric	0:b9444a40a999	1476
gregeric	0:b9444a40a999	1477	if (devicePrm[deviceId].endAccPos != 0)
gregeric	0:b9444a40a999	1478	{
gregeric	0:b9444a40a999	1479	devicePrm[deviceId].motionState = ACCELERATING;
gregeric	0:b9444a40a999	1480	}
gregeric	0:b9444a40a999	1481	else
gregeric	0:b9444a40a999	1482	{
gregeric	0:b9444a40a999	1483	devicePrm[deviceId].motionState = DECELERATING;
gregeric	0:b9444a40a999	1484	}
gregeric	0:b9444a40a999	1485	devicePrm[deviceId].accu = 0;
gregeric	0:b9444a40a999	1486	devicePrm[deviceId].relativePos = 0;
gregeric	0:b9444a40a999	1487	L6474_ApplySpeed(deviceId, devicePrm[deviceId].minSpeed);
gregeric	0:b9444a40a999	1488	}
gregeric	0:b9444a40a999	1489
gregeric	0:b9444a40a999	1490	/****************************************************//
gregeric	0:b9444a40a999	1491	* @brief Handles the device state machine at each ste
gregeric	0:b9444a40a999	1492	* @param[in] deviceId (from 0 to 2)
gregeric	0:b9444a40a999	1493	* @retval None
gregeric	0:b9444a40a999	1494	* @note Must only be called by the timer ISR
gregeric	0:b9444a40a999	1495	**********************************************************/
gregeric	0:b9444a40a999	1496	void L6474_StepClockHandler(uint8_t deviceId)
gregeric	0:b9444a40a999	1497	{
gregeric	0:b9444a40a999	1498	/* Set isr flag */
gregeric	0:b9444a40a999	1499	isrFlag = TRUE;
gregeric	0:b9444a40a999	1500
gregeric	0:b9444a40a999	1501	/* Incrementation of the relative position */
gregeric	0:b9444a40a999	1502	devicePrm[deviceId].relativePos++;
gregeric	0:b9444a40a999	1503
gregeric	0:b9444a40a999	1504	switch (devicePrm[deviceId].motionState)
gregeric	0:b9444a40a999	1505	{
gregeric	0:b9444a40a999	1506	case ACCELERATING:
gregeric	0:b9444a40a999	1507	{
gregeric	0:b9444a40a999	1508	uint32_t relPos = devicePrm[deviceId].relativePos;
gregeric	0:b9444a40a999	1509	uint32_t endAccPos = devicePrm[deviceId].endAccPos;
gregeric	0:b9444a40a999	1510	uint16_t speed = devicePrm[deviceId].speed;
gregeric	0:b9444a40a999	1511	uint32_t acc = ((uint32_t)devicePrm[deviceId].acceleration << 16);
gregeric	0:b9444a40a999	1512
gregeric	0:b9444a40a999	1513	if ((devicePrm[deviceId].commandExecuted == SOFT_STOP_CMD)\|\|
gregeric	0:b9444a40a999	1514	((devicePrm[deviceId].commandExecuted != RUN_CMD)&&
gregeric	0:b9444a40a999	1515	(relPos == devicePrm[deviceId].startDecPos)))
gregeric	0:b9444a40a999	1516	{
gregeric	0:b9444a40a999	1517	devicePrm[deviceId].motionState = DECELERATING;
gregeric	0:b9444a40a999	1518	devicePrm[deviceId].accu = 0;
gregeric	0:b9444a40a999	1519	}
gregeric	0:b9444a40a999	1520	else if ((speed >= devicePrm[deviceId].maxSpeed)\|\|
gregeric	0:b9444a40a999	1521	((devicePrm[deviceId].commandExecuted != RUN_CMD)&&
gregeric	0:b9444a40a999	1522	(relPos == endAccPos)))
gregeric	0:b9444a40a999	1523	{
gregeric	0:b9444a40a999	1524	devicePrm[deviceId].motionState = STEADY;
gregeric	0:b9444a40a999	1525	}
gregeric	0:b9444a40a999	1526	else
gregeric	0:b9444a40a999	1527	{
gregeric	0:b9444a40a999	1528	bool speedUpdated = FALSE;
gregeric	0:b9444a40a999	1529	/* Go on accelerating */
gregeric	0:b9444a40a999	1530	if (speed == 0) speed =1;
gregeric	0:b9444a40a999	1531	devicePrm[deviceId].accu += acc / speed;
gregeric	0:b9444a40a999	1532	while (devicePrm[deviceId].accu >= (0X10000L))
gregeric	0:b9444a40a999	1533	{
gregeric	0:b9444a40a999	1534	devicePrm[deviceId].accu -= (0X10000L);
gregeric	0:b9444a40a999	1535	speed +=1;
gregeric	0:b9444a40a999	1536	speedUpdated = TRUE;
gregeric	0:b9444a40a999	1537	}
gregeric	0:b9444a40a999	1538
gregeric	0:b9444a40a999	1539	if (speedUpdated)
gregeric	0:b9444a40a999	1540	{
gregeric	0:b9444a40a999	1541	if (speed > devicePrm[deviceId].maxSpeed)
gregeric	0:b9444a40a999	1542	{
gregeric	0:b9444a40a999	1543	speed = devicePrm[deviceId].maxSpeed;
gregeric	0:b9444a40a999	1544	}
gregeric	0:b9444a40a999	1545	devicePrm[deviceId].speed = speed;
gregeric	0:b9444a40a999	1546	L6474_ApplySpeed(deviceId, devicePrm[deviceId].speed);
gregeric	0:b9444a40a999	1547	}
gregeric	0:b9444a40a999	1548	}
gregeric	0:b9444a40a999	1549	break;
gregeric	0:b9444a40a999	1550	}
gregeric	0:b9444a40a999	1551	case STEADY:
gregeric	0:b9444a40a999	1552	{
gregeric	0:b9444a40a999	1553	uint16_t maxSpeed = devicePrm[deviceId].maxSpeed;
gregeric	0:b9444a40a999	1554	uint32_t relativePos = devicePrm[deviceId].relativePos;
gregeric	0:b9444a40a999	1555	if ((devicePrm[deviceId].commandExecuted == SOFT_STOP_CMD)\|\|
gregeric	0:b9444a40a999	1556	((devicePrm[deviceId].commandExecuted != RUN_CMD)&&
gregeric	0:b9444a40a999	1557	(relativePos >= (devicePrm[deviceId].startDecPos))) \|\|
gregeric	0:b9444a40a999	1558	((devicePrm[deviceId].commandExecuted == RUN_CMD)&&
gregeric	0:b9444a40a999	1559	(devicePrm[deviceId].speed > maxSpeed)))
gregeric	0:b9444a40a999	1560	{
gregeric	0:b9444a40a999	1561	devicePrm[deviceId].motionState = DECELERATING;
gregeric	0:b9444a40a999	1562	devicePrm[deviceId].accu = 0;
gregeric	0:b9444a40a999	1563	}
gregeric	0:b9444a40a999	1564	else if ((devicePrm[deviceId].commandExecuted == RUN_CMD)&&
gregeric	0:b9444a40a999	1565	(devicePrm[deviceId].speed < maxSpeed))
gregeric	0:b9444a40a999	1566	{
gregeric	0:b9444a40a999	1567	devicePrm[deviceId].motionState = ACCELERATING;
gregeric	0:b9444a40a999	1568	devicePrm[deviceId].accu = 0;
gregeric	0:b9444a40a999	1569	}
gregeric	0:b9444a40a999	1570	break;
gregeric	0:b9444a40a999	1571	}
gregeric	0:b9444a40a999	1572	case DECELERATING:
gregeric	0:b9444a40a999	1573	{
gregeric	0:b9444a40a999	1574	uint32_t relativePos = devicePrm[deviceId].relativePos;
gregeric	0:b9444a40a999	1575	uint16_t speed = devicePrm[deviceId].speed;
gregeric	0:b9444a40a999	1576	uint32_t deceleration = ((uint32_t)devicePrm[deviceId].deceleration << 16);
gregeric	0:b9444a40a999	1577	if (((devicePrm[deviceId].commandExecuted == SOFT_STOP_CMD)&&(speed <= devicePrm[deviceId].minSpeed))\|\|
gregeric	0:b9444a40a999	1578	((devicePrm[deviceId].commandExecuted != RUN_CMD)&&
gregeric	0:b9444a40a999	1579	(relativePos >= devicePrm[deviceId].stepsToTake)))
gregeric	0:b9444a40a999	1580	{
gregeric	0:b9444a40a999	1581	/* Motion process complete */
gregeric	0:b9444a40a999	1582	L6474_HardStop(deviceId);
gregeric	0:b9444a40a999	1583	}
gregeric	0:b9444a40a999	1584	else if ((devicePrm[deviceId].commandExecuted == RUN_CMD)&&
gregeric	0:b9444a40a999	1585	(speed <= devicePrm[deviceId].maxSpeed))
gregeric	0:b9444a40a999	1586	{
gregeric	0:b9444a40a999	1587	devicePrm[deviceId].motionState = STEADY;
gregeric	0:b9444a40a999	1588	}
gregeric	0:b9444a40a999	1589	else
gregeric	0:b9444a40a999	1590	{
gregeric	0:b9444a40a999	1591	/* Go on decelerating */
gregeric	0:b9444a40a999	1592	if (speed > devicePrm[deviceId].minSpeed)
gregeric	0:b9444a40a999	1593	{
gregeric	0:b9444a40a999	1594	bool speedUpdated = FALSE;
gregeric	0:b9444a40a999	1595	if (speed == 0) speed =1;
gregeric	0:b9444a40a999	1596	devicePrm[deviceId].accu += deceleration / speed;
gregeric	0:b9444a40a999	1597	while (devicePrm[deviceId].accu >= (0X10000L))
gregeric	0:b9444a40a999	1598	{
gregeric	0:b9444a40a999	1599	devicePrm[deviceId].accu -= (0X10000L);
gregeric	0:b9444a40a999	1600	if (speed > 1)
gregeric	0:b9444a40a999	1601	{
gregeric	0:b9444a40a999	1602	speed -=1;
gregeric	0:b9444a40a999	1603	}
gregeric	0:b9444a40a999	1604	speedUpdated = TRUE;
gregeric	0:b9444a40a999	1605	}
gregeric	0:b9444a40a999	1606
gregeric	0:b9444a40a999	1607	if (speedUpdated)
gregeric	0:b9444a40a999	1608	{
gregeric	0:b9444a40a999	1609	if (speed < devicePrm[deviceId].minSpeed)
gregeric	0:b9444a40a999	1610	{
gregeric	0:b9444a40a999	1611	speed = devicePrm[deviceId].minSpeed;
gregeric	0:b9444a40a999	1612	}
gregeric	0:b9444a40a999	1613	devicePrm[deviceId].speed = speed;
gregeric	0:b9444a40a999	1614	L6474_ApplySpeed(deviceId, devicePrm[deviceId].speed);
gregeric	0:b9444a40a999	1615	}
gregeric	0:b9444a40a999	1616	}
gregeric	0:b9444a40a999	1617	}
gregeric	0:b9444a40a999	1618	break;
gregeric	0:b9444a40a999	1619	}
gregeric	0:b9444a40a999	1620	default:
gregeric	0:b9444a40a999	1621	{
gregeric	0:b9444a40a999	1622	break;
gregeric	0:b9444a40a999	1623	}
gregeric	0:b9444a40a999	1624	}
gregeric	0:b9444a40a999	1625	/* Set isr flag */
gregeric	0:b9444a40a999	1626	isrFlag = FALSE;
gregeric	0:b9444a40a999	1627	}
gregeric	0:b9444a40a999	1628
gregeric	0:b9444a40a999	1629	/****************************************************//
gregeric	0:b9444a40a999	1630	* @brief Converts mA in compatible values for TVAL register
gregeric	0:b9444a40a999	1631	* @param[in] Tval
gregeric	0:b9444a40a999	1632	* @retval TVAL values
gregeric	0:b9444a40a999	1633	**********************************************************/
gregeric	0:b9444a40a999	1634	inline uint8_t L6474_Tval_Current_to_Par(double Tval)
gregeric	0:b9444a40a999	1635	{
gregeric	0:b9444a40a999	1636	return ((uint8_t)(((Tval - 31.25)/31.25)+0.5));
gregeric	0:b9444a40a999	1637	}
gregeric	0:b9444a40a999	1638
gregeric	0:b9444a40a999	1639	/****************************************************//
gregeric	0:b9444a40a999	1640	* @brief Convert time in us in compatible values
gregeric	0:b9444a40a999	1641	* for TON_MIN register
gregeric	0:b9444a40a999	1642	* @param[in] Tmin
gregeric	0:b9444a40a999	1643	* @retval TON_MIN values
gregeric	0:b9444a40a999	1644	**********************************************************/
gregeric	0:b9444a40a999	1645	inline uint8_t L6474_Tmin_Time_to_Par(double Tmin)
gregeric	0:b9444a40a999	1646	{
gregeric	0:b9444a40a999	1647	return ((uint8_t)(((Tmin - 0.5)*2)+0.5));
gregeric	0:b9444a40a999	1648	}
gregeric	0:b9444a40a999	1649
gregeric	0:b9444a40a999	1650	/****************************************************//
gregeric	0:b9444a40a999	1651	* @brief Write and receive a byte via SPI
gregeric	0:b9444a40a999	1652	* @param[in] pByteToTransmit pointer to the byte to transmit
gregeric	0:b9444a40a999	1653	* @param[in] pReceivedByte pointer to the received byte
gregeric	0:b9444a40a999	1654	* @retval None
gregeric	0:b9444a40a999	1655	**********************************************************/
gregeric	0:b9444a40a999	1656	void L6474_WriteBytes(uint8_t pByteToTransmit, uint8_t pReceivedByte)
gregeric	0:b9444a40a999	1657	{
gregeric	0:b9444a40a999	1658	if (BSP_MotorControlBoard_SpiWriteBytes(pByteToTransmit, pReceivedByte, numberOfDevices) != 0)
gregeric	0:b9444a40a999	1659	{
gregeric	0:b9444a40a999	1660	L6474_ErrorHandler(L6474_ERROR_1);
gregeric	0:b9444a40a999	1661	}
gregeric	0:b9444a40a999	1662
gregeric	0:b9444a40a999	1663	if (isrFlag)
gregeric	0:b9444a40a999	1664	{
gregeric	0:b9444a40a999	1665	spiPreemtionByIsr = TRUE;
gregeric	0:b9444a40a999	1666	}
gregeric	0:b9444a40a999	1667	}
gregeric	0:b9444a40a999	1668
gregeric	0:b9444a40a999	1669	/**
gregeric	0:b9444a40a999	1670	* @}
gregeric	0:b9444a40a999	1671	*/
gregeric	0:b9444a40a999	1672
gregeric	0:b9444a40a999	1673	/**
gregeric	0:b9444a40a999	1674	* @}
gregeric	0:b9444a40a999	1675	*/
gregeric	0:b9444a40a999	1676
gregeric	0:b9444a40a999	1677	/**
gregeric	0:b9444a40a999	1678	* @}
gregeric	0:b9444a40a999	1679	*/
gregeric	0:b9444a40a999	1680
gregeric	0:b9444a40a999	1681	/********************** (C) COPYRIGHT STMicroelectronics *END OF FILE**/

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Type:	Program
Mbed OS support:	Mbed 2 deprecated
Created:	05 Sep 2015
Imports:	320
Forks:	0
Commits:	7
Dependents:	0
Dependencies:	1
Followers:	7

IHM01A1/l6474.cpp@6:19c1b4a04c24, 2015-10-13 (annotated)

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