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.
IHM01A1/l6474.h
- Committer:
- gregeric
- Date:
- 2015-10-13
- Revision:
- 6:19c1b4a04c24
- Parent:
- 0:b9444a40a999
File content as of revision 6:19c1b4a04c24:
/** ****************************************************************************** * @file l6474.h * @author IPC Rennes * @version V1.5.0 * @date November 12, 2014 * @brief Header for L6474 driver (fully integrated microstepping motor driver) * @note (C) COPYRIGHT 2014 STMicroelectronics ****************************************************************************** * @attention * * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> * * Redistribution and use in source and binary forms, with or without modification, * are permitted provided that the following conditions are met: * 1. Redistributions of source code must retain the above copyright notice, * this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright notice, * this list of conditions and the following disclaimer in the documentation * and/or other materials provided with the distribution. * 3. Neither the name of STMicroelectronics nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************** */ /* Define to prevent recursive inclusion -------------------------------------*/ #ifndef __L6474_H #define __L6474_H #ifdef __cplusplus extern "C" { #endif /* Includes ------------------------------------------------------------------*/ #include "l6474_target_config.h" #include "motor.h" /** @addtogroup BSP * @{ */ /** @addtogroup L6474 * @{ */ /* Exported Constants --------------------------------------------------------*/ /** @defgroup L6474_Exported_Constants * @{ */ /// Current FW version #define L6474_FW_VERSION (5) /// L6474 max number of bytes of command & arguments to set a parameter #define L6474_CMD_ARG_MAX_NB_BYTES (4) /// L6474 command + argument bytes number for GET_STATUS command #define L6474_CMD_ARG_NB_BYTES_GET_STATUS (1) /// L6474 response bytes number #define L6474_RSP_NB_BYTES_GET_STATUS (2) /// L6474 value mask for ABS_POS register #define L6474_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF) /// L6474 sign bit mask for ABS_POS register #define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000) /** * @} */ /** @addtogroup L6474_Exported_Variables * @{ */ extern motorDrv_t l6474Drv; /** * @} */ /* Exported Types -------------------------------------------------------*/ /** @defgroup L6474_Exported_Types * @{ */ /** @defgroup L6474_Fast_Decay_Time_Options * @{ */ ///TOFF_FAST values for T_FAST register typedef enum { L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4), L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4), L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4), L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4), L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4), L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4), L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4), L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4), L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4), L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4), L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4), L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4), L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4), L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4), L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4), L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4) } L6474_TOFF_FAST_t; /** * @} */ /** @defgroup L6474_Fall_Step_Time_Options * @{ */ ///FAST_STEP values for T_FAST register typedef enum { L6474_FAST_STEP_2us = ((uint8_t) 0x00), L6474_FAST_STEP_4us = ((uint8_t) 0x01), L6474_FAST_STEP_6us = ((uint8_t) 0x02), L6474_FAST_STEP_8us = ((uint8_t) 0x03), L6474_FAST_STEP_10us = ((uint8_t) 0x04), L6474_FAST_STEP_12us = ((uint8_t) 0x05), L6474_FAST_STEP_14us = ((uint8_t) 0x06), L6474_FAST_STEP_16us = ((uint8_t) 0x07), L6474_FAST_STEP_18us = ((uint8_t) 0x08), L6474_FAST_STEP_20us = ((uint8_t) 0x09), L6474_FAST_STEP_22us = ((uint8_t) 0x0A), L6474_FAST_STEP_24us = ((uint8_t) 0x0B), L6474_FAST_STEP_26us = ((uint8_t) 0x0C), L6474_FAST_STEP_28us = ((uint8_t) 0x0D), L6474_FAST_STEP_30us = ((uint8_t) 0x0E), L6474_FAST_STEP_32us = ((uint8_t) 0x0F) } L6474_FAST_STEP_t; /** * @} */ /** @defgroup L6474_Overcurrent_Threshold_options * @{ */ ///OCD_TH register typedef enum { L6474_OCD_TH_375mA = ((uint8_t) 0x00), L6474_OCD_TH_750mA = ((uint8_t) 0x01), L6474_OCD_TH_1125mA = ((uint8_t) 0x02), L6474_OCD_TH_1500mA = ((uint8_t) 0x03), L6474_OCD_TH_1875mA = ((uint8_t) 0x04), L6474_OCD_TH_2250mA = ((uint8_t) 0x05), L6474_OCD_TH_2625mA = ((uint8_t) 0x06), L6474_OCD_TH_3000mA = ((uint8_t) 0x07), L6474_OCD_TH_3375mA = ((uint8_t) 0x08), L6474_OCD_TH_3750mA = ((uint8_t) 0x09), L6474_OCD_TH_4125mA = ((uint8_t) 0x0A), L6474_OCD_TH_4500mA = ((uint8_t) 0x0B), L6474_OCD_TH_4875mA = ((uint8_t) 0x0C), L6474_OCD_TH_5250mA = ((uint8_t) 0x0D), L6474_OCD_TH_5625mA = ((uint8_t) 0x0E), L6474_OCD_TH_6000mA = ((uint8_t) 0x0F) } L6474_OCD_TH_t; /** * @} */ /** @defgroup L6474_STEP_MODE_Register_Masks * @{ */ ///STEP_MODE register typedef enum { L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07), L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70) } L6474_STEP_MODE_Masks_t; /** * @} */ /** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register * @{ */ ///STEP_SEL field of STEP_MODE register typedef enum { L6474_STEP_SEL_1 = ((uint8_t) 0x08), //full step L6474_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step L6474_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep L6474_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep } L6474_STEP_SEL_t; /** * @} */ /** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register * @{ */ ///SYNC_SEL field of STEP_MODE register typedef enum { L6474_SYNC_SEL_1_2 = ((uint8_t) 0x80), L6474_SYNC_SEL_1 = ((uint8_t) 0x90), L6474_SYNC_SEL_2 = ((uint8_t) 0xA0), L6474_SYNC_SEL_4 = ((uint8_t) 0xB0), L6474_SYNC_SEL_8 = ((uint8_t) 0xC0), L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0) } L6474_SYNC_SEL_t; /** * @} */ /** @defgroup L6474_ALARM_EN_Register_Options * @{ */ ///ALARM_EN register typedef enum { L6474_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01), L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02), L6474_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04), L6474_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08), L6474_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40), L6474_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80) } L6474_ALARM_EN_t; /** * @} */ /** @defgroup L6474_CONFIG_Register_Masks * @{ */ ///CONFIG register typedef enum { L6474_CONFIG_OSC_SEL = ((uint16_t) 0x0007), L6474_CONFIG_EXT_CLK = ((uint16_t) 0x0008), L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020), L6474_CONFIG_OC_SD = ((uint16_t) 0x0080), L6474_CONFIG_POW_SR = ((uint16_t) 0x0300), L6474_CONFIG_TOFF = ((uint16_t) 0x7C00) } L6474_CONFIG_Masks_t; /** * @} */ /** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register * @{ */ ///Clock source option for CONFIG register typedef enum { L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000), L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008), L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009), L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A), L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B), L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004), L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005), L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006), L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007), L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C), L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D), L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E), L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F) } L6474_CONFIG_OSC_MGMT_t; /** * @} */ /** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register * @{ */ ///External Torque regulation options for CONFIG register typedef enum { L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000), L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020) } L6474_CONFIG_EN_TQREG_t; /** * @} */ /** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register * @{ */ ///Over Current Shutdown options for CONFIG register typedef enum { L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000), L6474_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080) } L6474_CONFIG_OC_SD_t; /** * @} */ /** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options * @{ */ /// POW_SR values for CONFIG register typedef enum { L6474_CONFIG_SR_320V_us =((uint16_t)0x0000), L6474_CONFIG_SR_075V_us =((uint16_t)0x0100), L6474_CONFIG_SR_110V_us =((uint16_t)0x0200), L6474_CONFIG_SR_260V_us =((uint16_t)0x0300) } L6474_CONFIG_POW_SR_t; /** * @} */ /** @defgroup L6474_Off_Time_Options * @{ */ /// TOFF values for CONFIG register typedef enum { L6474_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10), L6474_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10), L6474_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10), L6474_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10), L6474_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10), L6474_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10), L6474_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10), L6474_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10), L6474_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10), L6474_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10), L6474_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10), L6474_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10), L6474_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10), L6474_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10), L6474_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10), L6474_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10), L6474_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10), L6474_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10), L6474_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10), L6474_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10), L6474_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10), L6474_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10), L6474_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10), L6474_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10), L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10), L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10), L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10), L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10), L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10), L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10), L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10) } L6474_CONFIG_TOFF_t; /** * @} */ /** @defgroup L6474_STATUS_Register_Bit_Masks * @{ */ ///STATUS Register Bit Masks typedef enum { L6474_STATUS_HIZ = (((uint16_t) 0x0001)), L6474_STATUS_DIR = (((uint16_t) 0x0010)), L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)), L6474_STATUS_WRONG_CMD = (((uint16_t) 0x0100)), L6474_STATUS_UVLO = (((uint16_t) 0x0200)), L6474_STATUS_TH_WRN = (((uint16_t) 0x0400)), L6474_STATUS_TH_SD = (((uint16_t) 0x0800)), L6474_STATUS_OCD = (((uint16_t) 0x1000)) } L6474_STATUS_Masks_t; /** * @} */ /** @defgroup L6474_Direction_Field_Of_STATUS_Register * @{ */ ///Diretion field of STATUS register typedef enum { L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4), L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4) } L6474_STATUS_DIR_t; /** * @} */ /** @defgroup L6474_Internal_Register_Addresses * @{ */ /// Internal L6474 register addresses typedef enum { L6474_ABS_POS = ((uint8_t) 0x01), L6474_EL_POS = ((uint8_t) 0x02), L6474_MARK = ((uint8_t) 0x03), L6474_RESERVED_REG01 = ((uint8_t) 0x04), L6474_RESERVED_REG02 = ((uint8_t) 0x05), L6474_RESERVED_REG03 = ((uint8_t) 0x06), L6474_RESERVED_REG04 = ((uint8_t) 0x07), L6474_RESERVED_REG05 = ((uint8_t) 0x08), L6474_RESERVED_REG06 = ((uint8_t) 0x15), L6474_TVAL = ((uint8_t) 0x09), L6474_RESERVED_REG07 = ((uint8_t) 0x0A), L6474_RESERVED_REG08 = ((uint8_t) 0x0B), L6474_RESERVED_REG09 = ((uint8_t) 0x0C), L6474_RESERVED_REG10 = ((uint8_t) 0x0D), L6474_T_FAST = ((uint8_t) 0x0E), L6474_TON_MIN = ((uint8_t) 0x0F), L6474_TOFF_MIN = ((uint8_t) 0x10), L6474_RESERVED_REG11 = ((uint8_t) 0x11), L6474_ADC_OUT = ((uint8_t) 0x12), L6474_OCD_TH = ((uint8_t) 0x13), L6474_RESERVED_REG12 = ((uint8_t) 0x14), L6474_STEP_MODE = ((uint8_t) 0x16), L6474_ALARM_EN = ((uint8_t) 0x17), L6474_CONFIG = ((uint8_t) 0x18), L6474_STATUS = ((uint8_t) 0x19), L6474_RESERVED_REG13 = ((uint8_t) 0x1A), L6474_RESERVED_REG14 = ((uint8_t) 0x1B), L6474_INEXISTENT_REG = ((uint8_t) 0x1F) } L6474_Registers_t; /** * @} */ /** @defgroup L6474_Command_Set * @{ */ /// L6474 command set typedef enum { L6474_NOP = ((uint8_t) 0x00), L6474_SET_PARAM = ((uint8_t) 0x00), L6474_GET_PARAM = ((uint8_t) 0x20), L6474_ENABLE = ((uint8_t) 0xB8), L6474_DISABLE = ((uint8_t) 0xA8), L6474_GET_STATUS = ((uint8_t) 0xD0), L6474_RESERVED_CMD1 = ((uint8_t) 0xEB), L6474_RESERVED_CMD2 = ((uint8_t) 0xF8) } L6474_Commands_t; /** * @} */ /** @defgroup Device_Commands * @{ */ /// Device commands typedef enum { RUN_CMD, MOVE_CMD, SOFT_STOP_CMD, NO_CMD } deviceCommand_t; /** * @} */ /** @defgroup Device_Parameters * @{ */ /// Device Parameters Structure Type typedef struct { /// accumulator used to store speed increase smaller than 1 pps volatile uint32_t accu; /// Position in steps at the start of the goto or move commands volatile int32_t currentPosition; /// position in step at the end of the accelerating phase volatile uint32_t endAccPos; /// nb steps performed from the beggining of the goto or the move command volatile uint32_t relativePos; /// position in step at the start of the decelerating phase volatile uint32_t startDecPos; /// nb steps to perform for the goto or move commands volatile uint32_t stepsToTake; /// acceleration in pps^2 volatile uint16_t acceleration; /// deceleration in pps^2 volatile uint16_t deceleration; /// max speed in pps (speed use for goto or move command) volatile uint16_t maxSpeed; /// min speed in pps volatile uint16_t minSpeed; /// current speed in pps volatile uint16_t speed; /// command under execution volatile deviceCommand_t commandExecuted; /// FORWARD or BACKWARD direction volatile motorDir_t direction; /// Current State of the device volatile motorState_t motionState; }deviceParams_t; /** * @} */ /** * @} */ /* Exported functions --------------------------------------------------------*/ /** @defgroup L6474_Exported_Functions * @{ */ /** @defgroup Device_Control_Functions * @{ */ void L6474_AttachErrorHandler(void (*callback)(uint16_t)); //Attach a user callback to the error handler void L6474_AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt void L6474_Init(uint8_t nbDevices); //Start the L6474 library uint16_t L6474_GetAcceleration(uint8_t deviceId); //Return the acceleration in pps^2 uint16_t L6474_GetCurrentSpeed(uint8_t deviceId); //Return the current speed in pps uint16_t L6474_GetDeceleration(uint8_t deviceId); //Return the deceleration in pps^2 motorState_t L6474_GetDeviceState(uint8_t deviceId); //Return the device state motorDrv_t* L6474_GetMotorHandle(void); //Return handle of the motor driver handle uint8_t L6474_GetFwVersion(void); //Return the FW version int32_t L6474_GetMark(uint8_t deviceId); //Return the mark position uint16_t L6474_GetMaxSpeed(uint8_t deviceId); //Return the max speed in pps uint16_t L6474_GetMinSpeed(uint8_t deviceId); //Return the min speed in pps int32_t L6474_GetPosition(uint8_t deviceId); //Return the ABS_POSITION (32b signed) void L6474_GoHome(uint8_t deviceId); //Move to the home position void L6474_GoMark(uint8_t deviceId); //Move to the Mark position void L6474_GoTo(uint8_t deviceId, int32_t targetPosition); //Go to the specified position void L6474_HardStop(uint8_t deviceId); //Stop the motor and disable the power bridge void L6474_Move(uint8_t deviceId, //Move the motor of the specified number of steps motorDir_t direction, uint32_t stepCount); uint16_t L6474_ReadId(void); //Read Id to get driver instance void L6474_ResetAllDevices(void); //Reset all L6474 devices void L6474_Run(uint8_t deviceId, motorDir_t direction); //Run the motor bool L6474_SetAcceleration(uint8_t deviceId,uint16_t newAcc); //Set the acceleration in pps^2 bool L6474_SetDeceleration(uint8_t deviceId,uint16_t newDec); //Set the deceleration in pps^2 void L6474_SetHome(uint8_t deviceId); //Set current position to be the home position void L6474_SetMark(uint8_t deviceId); //Set current position to be the Markposition bool L6474_SetMaxSpeed(uint8_t deviceId,uint16_t newMaxSpeed); //Set the max speed in pps bool L6474_SetMinSpeed(uint8_t deviceId,uint16_t newMinSpeed); //Set the min speed in pps bool L6474_SoftStop(uint8_t deviceId); //Progressively stops the motor void L6474_WaitWhileActive(uint8_t deviceId); //Wait for the device state becomes Inactive /** * @} */ /** @defgroup L6474_Control_Functions * @{ */ void L6474_CmdDisable(uint8_t deviceId); //Send the L6474_DISABLE command void L6474_CmdEnable(uint8_t deviceId); //Send the L6474_ENABLE command uint32_t L6474_CmdGetParam(uint8_t deviceId, //Send the L6474_GET_PARAM command uint32_t param); uint16_t L6474_CmdGetStatus(uint8_t deviceId); // Send the L6474_GET_STATUS command void L6474_CmdNop(uint8_t deviceId); //Send the L6474_NOP command void L6474_CmdSetParam(uint8_t deviceId, //Send the L6474_SET_PARAM command uint32_t param, uint32_t value); uint16_t L6474_ReadStatusRegister(uint8_t deviceId); // Read the L6474_STATUS register without // clearing the flags void L6474_Reset(void); //Set the L6474 reset pin void L6474_ReleaseReset(void); //Release the L6474 reset pin void L6474_SelectStepMode(uint8_t deviceId, // Step mode selection motorStepMode_t stepMod); void L6474_SetDirection(uint8_t deviceId, //Set the L6474 direction pin motorDir_t direction); /** * @} */ /** @defgroup MotorControl_Board_Linked_Functions * @{ */ ///Delay of the requested number of milliseconds void BSP_MotorControlBoard_Delay(uint32_t delay); ///Enable Irq void BSP_MotorControlBoard_EnableIrq(void); ///Disable Irq void BSP_MotorControlBoard_DisableIrq(void); ///Initialise GPIOs used for L6474s void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices); ///Set PWM1 frequency and start it void BSP_MotorControlBoard_Pwm1SetFreq(uint16_t newFreq); ///Set PWM2 frequency and start it void BSP_MotorControlBoard_Pwm2SetFreq(uint16_t newFreq); ///Set PWM3 frequency and start it void BSP_MotorControlBoard_Pwm3SetFreq(uint16_t newFreq); ///Init the PWM of the specified device void BSP_MotorControlBoard_PwmInit(uint8_t deviceId); ///Stop the PWM of the specified device void BSP_MotorControlBoard_PwmStop(uint8_t deviceId); ///Reset the L6474 reset pin void BSP_MotorControlBoard_ReleaseReset(void); ///Set the L6474 reset pin void BSP_MotorControlBoard_Reset(void); ///Set direction GPIO void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState); ///Initialise the SPI used for L6474s uint8_t BSP_MotorControlBoard_SpiInit(void); ///Write bytes to the L6474s via SPI uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices); /** * @} */ /** * @} */ /** * @} */ /** * @} */ #ifdef __cplusplus } #endif #endif /* #ifndef __L6474_H */ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/