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

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BSP_MotorControl_Control_Functions
Functions

BSP_MotorControl_Control_Functions
[MOTOR_CONTROL]

Functions

void BSP_MotorControl_CmdDisable (uint8_t deviceId)
 Issue the Disable command to the motor driver of the specified device.
void BSP_MotorControl_CmdEnable (uint8_t deviceId)
 Issues the Enable command to the motor driver of the specified device.
uint32_t BSP_MotorControl_CmdGetParam (uint8_t deviceId, uint32_t param)
 Issues the GetParam command to the motor driver of the specified device.
uint16_t BSP_MotorControl_CmdGetStatus (uint8_t deviceId)
 Issues the GetStatus command to the motor driver of the specified device.
void BSP_MotorControl_CmdNop (uint8_t deviceId)
 Issues the Nop command to the motor driver of the specified device.
void BSP_MotorControl_CmdSetParam (uint8_t deviceId, uint32_t param, uint32_t value)
 Issues the SetParam command to the motor driver of the specified device.
uint16_t BSP_MotorControl_ReadStatusRegister (uint8_t deviceId)
 Reads the Status Register value.
void BSP_MotorControl_ReleaseReset (void)
 Releases the motor driver (pin set to High) of all devices.
void BSP_MotorControl_Reset (void)
 Resets the motor driver (reset pin set to low) of all devices.
void BSP_MotorControl_SelectStepMode (uint8_t deviceId, motorStepMode_t stepMod)
 Set the stepping mode.
void BSP_MotorControl_SetDirection (uint8_t deviceId, motorDir_t dir)
 Specifies the direction.
void BSP_MotorControl_CmdGoToDir (uint8_t deviceId, motorDir_t dir, int32_t abs_pos)
 Issues Go To Dir command.
uint8_t BSP_MotorControl_CheckBusyHw (void)
 Checks if at least one device is busy by checking busy pin position.
uint8_t BSP_MotorControl_CheckStatusHw (void)
 Checks if at least one device has an alarm flag set by reading flag pin position.
void BSP_MotorControl_CmdGoUntil (uint8_t deviceId, motorAction_t action, motorDir_t dir, uint32_t speed)
 Issues Go Until command.
void BSP_MotorControl_CmdHardHiZ (uint8_t deviceId)
 Issues Hard HiZ command.
void BSP_MotorControl_CmdReleaseSw (uint8_t deviceId, motorAction_t action, motorDir_t dir)
 Issues Release SW command.
void BSP_MotorControl_CmdResetDevice (uint8_t deviceId)
 Issues Reset Device command.
void BSP_MotorControl_CmdResetPos (uint8_t deviceId)
 Issues Reset Pos command.
void BSP_MotorControl_CmdRun (uint8_t deviceId, motorDir_t dir, uint32_t speed)
 Issues Run command.
void BSP_MotorControl_CmdSoftHiZ (uint8_t deviceId)
 Issues Soft HiZ command.
void BSP_MotorControl_CmdStepClock (uint8_t deviceId, motorDir_t dir)
 Issues Step Clock command.
void BSP_MotorControl_FetchAndClearAllStatus (void)
 Fetch and clear status flags of all devices by issuing a GET_STATUS command simultaneously to all devices.
uint16_t BSP_MotorControl_GetFetchedStatus (uint8_t deviceId)
 Get the value of the STATUS register which was fetched by using BSP_MotorControl_FetchAndClearAllStatus.
uint8_t BSP_MotorControl_GetNbDevices (void)
 Return the number of devices in the daisy chain.
bool BSP_MotorControl_IsDeviceBusy (uint8_t deviceId)
 Checks if the specified device is busy by reading the Busy flag bit ot its status Register.
void BSP_MotorControl_SendQueuedCommands (void)
 Sends commands stored in the queue by previously Powerstep01_QueueCommands.
void BSP_MotorControl_QueueCommands (uint8_t deviceId, uint8_t param, uint32_t value)
 Put commands in queue before synchronous sending done by calling BSP_MotorControl_SendQueuedCommands.
void BSP_MotorControl_WaitForAllDevicesNotBusy (void)
 Locks until all devices become not busy.
void BSP_MotorControl_BusyInterruptHandler (void)
 Handler of the busy interrupt which calls the user callback (if defined)
void BSP_MotorControl_CmdSoftStop (uint8_t deviceId)
 Issues PowerStep01 Soft Stop command.

Function Documentation

void BSP_MotorControl_BusyInterruptHandler ( void   )

Handler of the busy interrupt which calls the user callback (if defined)

Parameters:
None
Return values:
None

Definition at line 1298 of file motorcontrol.cpp.

uint8_t BSP_MotorControl_CheckBusyHw ( void   )

Checks if at least one device is busy by checking busy pin position.

The busy pin is shared between all devices.

Parameters:
None
Return values:
Oneif at least one device is busy, otherwise zero

Definition at line 968 of file motorcontrol.cpp.

uint8_t BSP_MotorControl_CheckStatusHw ( void   )

Checks if at least one device has an alarm flag set by reading flag pin position.

The flag pin is shared between all devices.

Parameters:
None
Return values:
Oneif at least one device has an alarm flag set , otherwise zero

Definition at line 990 of file motorcontrol.cpp.

void BSP_MotorControl_CmdDisable ( uint8_t  deviceId )

Issue the Disable command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None

Definition at line 739 of file motorcontrol.cpp.

void BSP_MotorControl_CmdEnable ( uint8_t  deviceId )

Issues the Enable command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None

Definition at line 756 of file motorcontrol.cpp.

uint32_t BSP_MotorControl_CmdGetParam ( uint8_t  deviceId,
uint32_t  param 
)

Issues the GetParam command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]paramRegister adress (BSP_MotorControl_ABS_POS, BSP_MotorControl_MARK,...)
Return values:
Registervalue

Definition at line 774 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_CmdGetStatus ( uint8_t  deviceId )

Issues the GetStatus command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
StatusRegister value
Note:
Once the GetStatus command is performed, the flags of the status register are reset. This is not the case when the status register is read with the GetParam command (via the functions ReadStatusRegister or CmdGetParam).

Definition at line 797 of file motorcontrol.cpp.

void BSP_MotorControl_CmdGoToDir ( uint8_t  deviceId,
motorDir_t  dir,
int32_t  abs_pos 
)

Issues Go To Dir command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]dirmovement direction
[in]abs_posabsolute position where requested to move
Return values:
None

Definition at line 949 of file motorcontrol.cpp.

void BSP_MotorControl_CmdGoUntil ( uint8_t  deviceId,
motorAction_t  action,
motorDir_t  dir,
uint32_t  speed 
)

Issues Go Until command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]actionACTION_RESET or ACTION_COPY
[in]dirmovement direction
[in]speed
Return values:
None

Definition at line 1012 of file motorcontrol.cpp.

void BSP_MotorControl_CmdHardHiZ ( uint8_t  deviceId )

Issues Hard HiZ command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
None

Definition at line 1029 of file motorcontrol.cpp.

void BSP_MotorControl_CmdNop ( uint8_t  deviceId )

Issues the Nop command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None

Definition at line 816 of file motorcontrol.cpp.

void BSP_MotorControl_CmdReleaseSw ( uint8_t  deviceId,
motorAction_t  action,
motorDir_t  dir 
)

Issues Release SW command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]action
[in]dirmovement direction
Return values:
None

Definition at line 1048 of file motorcontrol.cpp.

void BSP_MotorControl_CmdResetDevice ( uint8_t  deviceId )

Issues Reset Device command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
None

Definition at line 1065 of file motorcontrol.cpp.

void BSP_MotorControl_CmdResetPos ( uint8_t  deviceId )

Issues Reset Pos command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
None

Definition at line 1082 of file motorcontrol.cpp.

void BSP_MotorControl_CmdRun ( uint8_t  deviceId,
motorDir_t  dir,
uint32_t  speed 
)

Issues Run command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]dirMovement direction (FORWARD, BACKWARD)
[in]speedin steps/s
Return values:
None

Definition at line 1101 of file motorcontrol.cpp.

void BSP_MotorControl_CmdSetParam ( uint8_t  deviceId,
uint32_t  param,
uint32_t  value 
)

Issues the SetParam command to the motor driver of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]paramRegister adress (BSP_MotorControl_ABS_POS, BSP_MotorControl_MARK,...)
[in]valueValue to set in the register
Return values:
None

Definition at line 835 of file motorcontrol.cpp.

void BSP_MotorControl_CmdSoftHiZ ( uint8_t  deviceId )

Issues Soft HiZ command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
None

Definition at line 1118 of file motorcontrol.cpp.

void BSP_MotorControl_CmdSoftStop ( uint8_t  deviceId )

Issues PowerStep01 Soft Stop command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
None

Definition at line 1315 of file motorcontrol.cpp.

void BSP_MotorControl_CmdStepClock ( uint8_t  deviceId,
motorDir_t  dir 
)

Issues Step Clock command.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]dirMovement direction (FORWARD, BACKWARD)
Return values:
None

Definition at line 1136 of file motorcontrol.cpp.

void BSP_MotorControl_FetchAndClearAllStatus ( void   )

Fetch and clear status flags of all devices by issuing a GET_STATUS command simultaneously to all devices.

Then, the fetched status of each device can be retrieved by using the BSP_MotorControl_GetFetchedStatus function provided there is no other calls to functions which use the SPI in between.

Parameters:
None
Return values:
None

Definition at line 1159 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetFetchedStatus ( uint8_t  deviceId )

Get the value of the STATUS register which was fetched by using BSP_MotorControl_FetchAndClearAllStatus.

The fetched values are available as long as there no other calls to functions which use the SPI.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
Lastfetched value of the STATUS register

Definition at line 1179 of file motorcontrol.cpp.

uint8_t BSP_MotorControl_GetNbDevices ( void   )

Return the number of devices in the daisy chain.

Parameters:
None
Return values:
numberof devices from 1 to MAX_NUMBER_OF_DEVICES

Definition at line 1198 of file motorcontrol.cpp.

bool BSP_MotorControl_IsDeviceBusy ( uint8_t  deviceId )

Checks if the specified device is busy by reading the Busy flag bit ot its status Register.

Parameters:
[in]deviceId(from 0 to MAX_NUMBER_OF_DEVICES-1 )
Return values:
trueif device is busy, false zero

Definition at line 1218 of file motorcontrol.cpp.

void BSP_MotorControl_QueueCommands ( uint8_t  deviceId,
uint8_t  param,
uint32_t  value 
)

Put commands in queue before synchronous sending done by calling BSP_MotorControl_SendQueuedCommands.

Any call to functions that use the SPI between the calls of BSP_MotorControl_QueueCommands and BSP_MotorControl_SendQueuedCommands will corrupt the queue. A command for each device of the daisy chain must be specified before calling BSP_MotorControl_SendQueuedCommands.

Parameters:
[in]deviceIddeviceId (from 0 to MAX_NUMBER_OF_DEVICES-1 )
[in]paramCommand to queue (all BSP_MotorControl commmands except SET_PARAM, GET_PARAM, GET_STATUS)
[in]valueargument of the command to queue
Return values:
None

Definition at line 1264 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_ReadStatusRegister ( uint8_t  deviceId )

Reads the Status Register value.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
Statusregister valued
Note:
The status register flags are not cleared at the difference with CmdGetStatus()

Definition at line 856 of file motorcontrol.cpp.

void BSP_MotorControl_ReleaseReset ( void   )

Releases the motor driver (pin set to High) of all devices.

Parameters:
None
Return values:
None

Definition at line 875 of file motorcontrol.cpp.

void BSP_MotorControl_Reset ( void   )

Resets the motor driver (reset pin set to low) of all devices.

Parameters:
None
Return values:
None

Definition at line 892 of file motorcontrol.cpp.

void BSP_MotorControl_SelectStepMode ( uint8_t  deviceId,
motorStepMode_t  stepMod 
)

Set the stepping mode.

Parameters:
[in]deviceId(from 0 to 2)
[in]stepModfrom full step to 1/16 microstep as specified in enum BSP_MotorControl_STEP_SEL_t
Return values:
None

Definition at line 910 of file motorcontrol.cpp.

void BSP_MotorControl_SendQueuedCommands ( void   )

Sends commands stored in the queue by previously Powerstep01_QueueCommands.

Parameters:
None
Return values:
None

Definition at line 1238 of file motorcontrol.cpp.

void BSP_MotorControl_SetDirection ( uint8_t  deviceId,
motorDir_t  dir 
)

Specifies the direction.

Parameters:
[in]deviceId(from 0 to 2)
[in]dirFORWARD or BACKWARD
Note:
The direction change is only applied if the device is in INACTIVE state
Return values:
None

Definition at line 930 of file motorcontrol.cpp.

void BSP_MotorControl_WaitForAllDevicesNotBusy ( void   )

Locks until all devices become not busy.

Parameters:
None
Return values:
None

Definition at line 1281 of file motorcontrol.cpp.

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