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

Embed: (wiki syntax)

« Back to documentation index

MOTOR_CONTROL_Private_Functions
Functions

MOTOR_CONTROL_Private_Functions
[MOTOR_CONTROL]

Functions

void BSP_MotorControl_AttachErrorHandler (void(*callback)(uint16_t))
 Attaches a user callback to the error Handler.
void BSP_MotorControl_AttachFlagInterrupt (void(*callback)(void))
 Attaches a user callback to the Flag interrupt Handler.
void BSP_MotorControl_AttachBusyInterrupt (void(*callback)(void))
 Attaches a user callback to the Busy interrupt Handler.
void BSP_MotorControl_ErrorHandler (uint16_t error)
 Motor control error handler.
void BSP_MotorControl_Init (uint16_t id, uint8_t nbDevices)
 Initialises the motor driver.
void BSP_MotorControl_FlagInterruptHandler (void)
 Handlers of the flag interrupt which calls the user callback (if defined)
uint16_t BSP_MotorControl_GetAcceleration (uint8_t deviceId)
 Returns the acceleration of the specified device.
uint16_t BSP_MotorControl_GetBoardId (void)
 Get board Id the motor driver.
uint16_t BSP_MotorControl_GetCurrentSpeed (uint8_t deviceId)
 Returns the current speed of the specified device.
uint16_t BSP_MotorControl_GetDeceleration (uint8_t deviceId)
 Returns the deceleration of the specified device.
motorState_t BSP_MotorControl_GetDeviceState (uint8_t deviceId)
 Returns the device state.
uint8_t BSP_MotorControl_GetFwVersion (void)
 Returns the FW version of the library.
int32_t BSP_MotorControl_GetMark (uint8_t deviceId)
 Returns the mark position of the specified device.
uint16_t BSP_MotorControl_GetMaxSpeed (uint8_t deviceId)
 Returns the max speed of the specified device.
uint16_t BSP_MotorControl_GetMinSpeed (uint8_t deviceId)
 Returns the min speed of the specified device.
int32_t BSP_MotorControl_GetPosition (uint8_t deviceId)
 Returns the ABS_POSITION of the specified device.
void BSP_MotorControl_GoHome (uint8_t deviceId)
 Requests the motor to move to the home position (ABS_POSITION = 0)
void BSP_MotorControl_GoMark (uint8_t deviceId)
 Requests the motor to move to the mark position.
void BSP_MotorControl_GoTo (uint8_t deviceId, int32_t targetPosition)
 Requests the motor to move to the specified position.
void BSP_MotorControl_HardStop (uint8_t deviceId)
 Immediatly stops the motor and disable the power bridge.
void BSP_MotorControl_Move (uint8_t deviceId, motorDir_t direction, uint32_t stepCount)
 Moves the motor of the specified number of steps.
void BSP_MotorControl_ResetAllDevices (void)
 Resets all motor driver devices.
void BSP_MotorControl_Run (uint8_t deviceId, motorDir_t direction)
 Runs the motor.
bool BSP_MotorControl_SetAcceleration (uint8_t deviceId, uint16_t newAcc)
 Changes the acceleration of the specified device.
bool BSP_MotorControl_SetDeceleration (uint8_t deviceId, uint16_t newDec)
 Changes the deceleration of the specified device.
void BSP_MotorControl_SetHome (uint8_t deviceId)
 Set current position to be the Home position (ABS pos set to 0)
void BSP_MotorControl_SetMark (uint8_t deviceId)
 Sets current position to be the Mark position.
bool BSP_MotorControl_SetMaxSpeed (uint8_t deviceId, uint16_t newMaxSpeed)
 Changes the max speed of the specified device.
bool BSP_MotorControl_SetMinSpeed (uint8_t deviceId, uint16_t newMinSpeed)
 Changes the min speed of the specified device.
bool BSP_MotorControl_SoftStop (uint8_t deviceId)
 Stops the motor by using the device deceleration.
void BSP_MotorControl_StepClockHandler (uint8_t deviceId)
 Handles the device state machine at each ste.
void BSP_MotorControl_WaitWhileActive (uint8_t deviceId)
 Locks until the device state becomes Inactive.

Function Documentation

void BSP_MotorControl_AttachBusyInterrupt ( void(*)(void)  callback )

Attaches a user callback to the Busy interrupt Handler.

The call back will be then called each time the library detects a BUSY signal falling edge.

Parameters:
[in]callbackName of the callback to attach to the Busy interrupt Hanlder
Return values:
None

Definition at line 159 of file motorcontrol.cpp.

void BSP_MotorControl_AttachErrorHandler ( void(*)(uint16_t)  callback )

Attaches a user callback to the error Handler.

The call back will be then called each time the library detects an error

Parameters:
[in]callbackName of the callback to attach to the error Hanlder
Return values:
None

Definition at line 119 of file motorcontrol.cpp.

void BSP_MotorControl_AttachFlagInterrupt ( void(*)(void)  callback )

Attaches a user callback to the Flag interrupt Handler.

The call back will be then called each time the library detects a FLAG signal falling edge.

Parameters:
[in]callbackName of the callback to attach to the Flag interrupt Hanlder
Return values:
None

Definition at line 139 of file motorcontrol.cpp.

void BSP_MotorControl_ErrorHandler ( uint16_t  error )

Motor control error handler.

Parameters:
[in]errornumber of the error
Return values:
None

Definition at line 176 of file motorcontrol.cpp.

void BSP_MotorControl_FlagInterruptHandler ( void   )

Handlers of the flag interrupt which calls the user callback (if defined)

Parameters:
None
Return values:
None

Definition at line 228 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetAcceleration ( uint8_t  deviceId )

Returns the acceleration of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
Accelerationin pps^2

Definition at line 244 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetBoardId ( void   )

Get board Id the motor driver.

Parameters:
None
Return values:
Motorcontrol board Id

Definition at line 264 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetCurrentSpeed ( uint8_t  deviceId )

Returns the current speed of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
Speedin pps

Definition at line 273 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetDeceleration ( uint8_t  deviceId )

Returns the deceleration of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
Decelerationin pps^2

Definition at line 292 of file motorcontrol.cpp.

motorState_t BSP_MotorControl_GetDeviceState ( uint8_t  deviceId )

Returns the device state.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
State(ACCELERATING, DECELERATING, STEADY or INACTIVE)

Definition at line 312 of file motorcontrol.cpp.

uint8_t BSP_MotorControl_GetFwVersion ( void   )

Returns the FW version of the library.

Parameters:
None
Return values:
BSP_MotorControl_FW_VERSION

Definition at line 332 of file motorcontrol.cpp.

int32_t BSP_MotorControl_GetMark ( uint8_t  deviceId )

Returns the mark position of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
Markregister value converted in a 32b signed integer

Definition at line 352 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetMaxSpeed ( uint8_t  deviceId )

Returns the max speed of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
maxSpeedin pps

Definition at line 372 of file motorcontrol.cpp.

uint16_t BSP_MotorControl_GetMinSpeed ( uint8_t  deviceId )

Returns the min speed of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
minSpeedin pps

Definition at line 391 of file motorcontrol.cpp.

int32_t BSP_MotorControl_GetPosition ( uint8_t  deviceId )

Returns the ABS_POSITION of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
ABS_POSITIONregister value converted in a 32b signed integer

Definition at line 411 of file motorcontrol.cpp.

void BSP_MotorControl_GoHome ( uint8_t  deviceId )

Requests the motor to move to the home position (ABS_POSITION = 0)

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

Definition at line 431 of file motorcontrol.cpp.

void BSP_MotorControl_GoMark ( uint8_t  deviceId )

Requests the motor to move to the mark position.

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

Definition at line 448 of file motorcontrol.cpp.

void BSP_MotorControl_GoTo ( uint8_t  deviceId,
int32_t  targetPosition 
)

Requests the motor to move to the specified position.

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

Definition at line 466 of file motorcontrol.cpp.

void BSP_MotorControl_HardStop ( uint8_t  deviceId )

Immediatly stops the motor and disable the power bridge.

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

Definition at line 483 of file motorcontrol.cpp.

void BSP_MotorControl_Init ( uint16_t  id,
uint8_t  nbDevices 
)

Initialises the motor driver.

Parameters:
[in]idComponent Id (L6474, Powerstep01,...)
[in]nbDevicesNumber of motor devices to use (from 1 to 3)
Return values:
None

Definition at line 196 of file motorcontrol.cpp.

void BSP_MotorControl_Move ( uint8_t  deviceId,
motorDir_t  direction,
uint32_t  stepCount 
)

Moves the motor of the specified number of steps.

Parameters:
[in]deviceId(from 0 to 2)
[in]directionFORWARD or BACKWARD
[in]stepCountNumber of steps to perform
Return values:
None

Definition at line 502 of file motorcontrol.cpp.

void BSP_MotorControl_ResetAllDevices ( void   )

Resets all motor driver devices.

Parameters:
None
Return values:
None

Definition at line 519 of file motorcontrol.cpp.

void BSP_MotorControl_Run ( uint8_t  deviceId,
motorDir_t  direction 
)

Runs the motor.

It will accelerate from the min speed up to the max speed by using the device acceleration.

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

Definition at line 538 of file motorcontrol.cpp.

bool BSP_MotorControl_SetAcceleration ( uint8_t  deviceId,
uint16_t  newAcc 
)

Changes the acceleration of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]newAccNew acceleration to apply in pps^2
Return values:
trueif the command is successfully executed, else false
Note:
The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 557 of file motorcontrol.cpp.

bool BSP_MotorControl_SetDeceleration ( uint8_t  deviceId,
uint16_t  newDec 
)

Changes the deceleration of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]newDecNew deceleration to apply in pps^2
Return values:
trueif the command is successfully executed, else false
Note:
The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command)

Definition at line 579 of file motorcontrol.cpp.

void BSP_MotorControl_SetHome ( uint8_t  deviceId )

Set current position to be the Home position (ABS pos set to 0)

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

Definition at line 598 of file motorcontrol.cpp.

void BSP_MotorControl_SetMark ( uint8_t  deviceId )

Sets current position to be the Mark position.

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

Definition at line 615 of file motorcontrol.cpp.

bool BSP_MotorControl_SetMaxSpeed ( uint8_t  deviceId,
uint16_t  newMaxSpeed 
)

Changes the max speed of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]newMaxSpeedNew max speed to apply in pps
Return values:
trueif the command is successfully executed, else false
Note:
The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 635 of file motorcontrol.cpp.

bool BSP_MotorControl_SetMinSpeed ( uint8_t  deviceId,
uint16_t  newMinSpeed 
)

Changes the min speed of the specified device.

Parameters:
[in]deviceId(from 0 to 2)
[in]newMinSpeedNew min speed to apply in pps
Return values:
trueif the command is successfully executed, else false
Note:
The command is not performed is the device is executing a MOVE or GOTO command (but it can be used during a RUN command).

Definition at line 657 of file motorcontrol.cpp.

bool BSP_MotorControl_SoftStop ( uint8_t  deviceId )

Stops the motor by using the device deceleration.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
trueif the command is successfully executed, else false
Note:
The command is not performed is the device is in INACTIVE state.

Definition at line 678 of file motorcontrol.cpp.

void BSP_MotorControl_StepClockHandler ( uint8_t  deviceId )

Handles the device state machine at each ste.

Parameters:
[in]deviceId(from 0 to 2)
Return values:
None
Note:
Must only be called by the timer ISR

Definition at line 698 of file motorcontrol.cpp.

void BSP_MotorControl_WaitWhileActive ( uint8_t  deviceId )

Locks until the device state becomes Inactive.

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

Definition at line 714 of file motorcontrol.cpp.

Generated on Tue Jul 12 2022 22:53:31 by  doxygen 1.7.2