l6474.h

00001 /**
00002   ******************************************************************************
00003   * @file    l6474.h 
00004   * @author  IPC Rennes
00005   * @version V1.5.0
00006   * @date    November 12, 2014
00007   * @brief   Header for L6474 driver (fully integrated microstepping motor driver)
00008   * @note    (C) COPYRIGHT 2014 STMicroelectronics
00009   ******************************************************************************
00010   * @attention
00011   *
00012   * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
00013   *
00014   * Redistribution and use in source and binary forms, with or without modification,
00015   * are permitted provided that the following conditions are met:
00016   *   1. Redistributions of source code must retain the above copyright notice,
00017   *      this list of conditions and the following disclaimer.
00018   *   2. Redistributions in binary form must reproduce the above copyright notice,
00019   *      this list of conditions and the following disclaimer in the documentation
00020   *      and/or other materials provided with the distribution.
00021   *   3. Neither the name of STMicroelectronics nor the names of its contributors
00022   *      may be used to endorse or promote products derived from this software
00023   *      without specific prior written permission.
00024   *
00025   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00026   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00027   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00028   * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00029   * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00030   * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00031   * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00032   * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00033   * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00034   * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00035   *
00036   ******************************************************************************
00037   */
00038 
00039 /* Define to prevent recursive inclusion -------------------------------------*/
00040 #ifndef __L6474_H
00041 #define __L6474_H
00042 
00043 #ifdef __cplusplus
00044  extern "C" {
00045 #endif 
00046 
00047 /* Includes ------------------------------------------------------------------*/
00048 #include "l6474_target_config.h"
00049 #include "motor.h"   
00050    
00051 /** @addtogroup BSP
00052   * @{
00053   */   
00054    
00055 /** @addtogroup L6474
00056   * @{
00057   */   
00058    
00059 /* Exported Constants --------------------------------------------------------*/
00060 
00061 /** @defgroup L6474_Exported_Constants
00062   * @{
00063   */   
00064 
00065 /// Current FW version
00066 #define L6474_FW_VERSION (5)
00067 
00068 /// L6474 max number of bytes of command & arguments to set a parameter
00069 #define L6474_CMD_ARG_MAX_NB_BYTES              (4)
00070 
00071 /// L6474 command + argument bytes number for GET_STATUS command
00072 #define L6474_CMD_ARG_NB_BYTES_GET_STATUS       (1)
00073 
00074 /// L6474 response bytes number
00075 #define L6474_RSP_NB_BYTES_GET_STATUS           (2)
00076 
00077 /// L6474 value mask for ABS_POS register
00078 #define L6474_ABS_POS_VALUE_MASK    ((uint32_t) 0x003FFFFF)
00079    
00080 /// L6474 sign bit mask for ABS_POS register
00081 #define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
00082 
00083 /**
00084   * @}
00085   */
00086 
00087 /** @addtogroup L6474_Exported_Variables
00088   * @{
00089   */    
00090     extern motorDrv_t   l6474Drv;
00091 /**
00092   * @}
00093   */
00094      
00095 /* Exported Types  -------------------------------------------------------*/
00096 
00097 /** @defgroup L6474_Exported_Types
00098   * @{
00099   */   
00100 
00101 /** @defgroup L6474_Fast_Decay_Time_Options  
00102   * @{
00103   */
00104 ///TOFF_FAST values for T_FAST register
00105 typedef enum {
00106   L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
00107   L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
00108   L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
00109   L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
00110   L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
00111   L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
00112   L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
00113   L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
00114   L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
00115   L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
00116   L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
00117   L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
00118   L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
00119   L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
00120   L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
00121   L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
00122 } L6474_TOFF_FAST_t;
00123 /**
00124   * @}
00125   */
00126 
00127 /** @defgroup L6474_Fall_Step_Time_Options 
00128   * @{
00129   */
00130 ///FAST_STEP values for T_FAST register
00131 typedef enum {
00132   L6474_FAST_STEP_2us = ((uint8_t) 0x00),
00133   L6474_FAST_STEP_4us = ((uint8_t) 0x01),
00134   L6474_FAST_STEP_6us = ((uint8_t) 0x02),
00135   L6474_FAST_STEP_8us = ((uint8_t) 0x03),
00136   L6474_FAST_STEP_10us = ((uint8_t) 0x04),
00137   L6474_FAST_STEP_12us = ((uint8_t) 0x05),
00138   L6474_FAST_STEP_14us = ((uint8_t) 0x06),
00139   L6474_FAST_STEP_16us = ((uint8_t) 0x07),
00140   L6474_FAST_STEP_18us = ((uint8_t) 0x08),
00141   L6474_FAST_STEP_20us = ((uint8_t) 0x09),
00142   L6474_FAST_STEP_22us = ((uint8_t) 0x0A),
00143   L6474_FAST_STEP_24us = ((uint8_t) 0x0B),
00144   L6474_FAST_STEP_26us = ((uint8_t) 0x0C),
00145   L6474_FAST_STEP_28us = ((uint8_t) 0x0D),
00146   L6474_FAST_STEP_30us = ((uint8_t) 0x0E),
00147   L6474_FAST_STEP_32us = ((uint8_t) 0x0F)
00148 } L6474_FAST_STEP_t;
00149 /**
00150   * @}
00151   */
00152 
00153 /** @defgroup L6474_Overcurrent_Threshold_options
00154   * @{
00155   */
00156 ///OCD_TH register
00157 typedef enum {
00158   L6474_OCD_TH_375mA  = ((uint8_t) 0x00),
00159   L6474_OCD_TH_750mA  = ((uint8_t) 0x01),
00160   L6474_OCD_TH_1125mA = ((uint8_t) 0x02),
00161   L6474_OCD_TH_1500mA = ((uint8_t) 0x03),
00162   L6474_OCD_TH_1875mA = ((uint8_t) 0x04),
00163   L6474_OCD_TH_2250mA = ((uint8_t) 0x05),
00164   L6474_OCD_TH_2625mA = ((uint8_t) 0x06),
00165   L6474_OCD_TH_3000mA = ((uint8_t) 0x07),
00166   L6474_OCD_TH_3375mA = ((uint8_t) 0x08),
00167   L6474_OCD_TH_3750mA = ((uint8_t) 0x09),
00168   L6474_OCD_TH_4125mA = ((uint8_t) 0x0A),
00169   L6474_OCD_TH_4500mA = ((uint8_t) 0x0B),
00170   L6474_OCD_TH_4875mA = ((uint8_t) 0x0C),
00171   L6474_OCD_TH_5250mA = ((uint8_t) 0x0D),
00172   L6474_OCD_TH_5625mA = ((uint8_t) 0x0E),
00173   L6474_OCD_TH_6000mA = ((uint8_t) 0x0F)
00174 } L6474_OCD_TH_t;
00175 /**
00176   * @}
00177   */
00178 
00179 /** @defgroup L6474_STEP_MODE_Register_Masks 
00180   * @{
00181   */  
00182 ///STEP_MODE register
00183 typedef enum {
00184   L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
00185   L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
00186 } L6474_STEP_MODE_Masks_t;
00187 /**
00188   * @}
00189   */
00190 
00191 /** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register
00192   * @{
00193   */
00194 ///STEP_SEL field of STEP_MODE register
00195 typedef enum {
00196   L6474_STEP_SEL_1    = ((uint8_t) 0x08),  //full step
00197   L6474_STEP_SEL_1_2  = ((uint8_t) 0x09),  //half step
00198   L6474_STEP_SEL_1_4  = ((uint8_t) 0x0A),  //1/4 microstep
00199   L6474_STEP_SEL_1_8  = ((uint8_t) 0x0B),  //1/8 microstep
00200   L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C)   //1/16 microstep
00201 } L6474_STEP_SEL_t;
00202 /**
00203   * @}
00204   */
00205 
00206 /** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register 
00207   * @{
00208   */
00209 ///SYNC_SEL field of STEP_MODE register
00210 typedef enum {
00211   L6474_SYNC_SEL_1_2    = ((uint8_t) 0x80),
00212   L6474_SYNC_SEL_1      = ((uint8_t) 0x90),
00213   L6474_SYNC_SEL_2      = ((uint8_t) 0xA0),
00214   L6474_SYNC_SEL_4      = ((uint8_t) 0xB0),
00215   L6474_SYNC_SEL_8      = ((uint8_t) 0xC0),
00216   L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
00217 } L6474_SYNC_SEL_t;
00218 /**
00219   * @}
00220   */
00221 
00222 /** @defgroup L6474_ALARM_EN_Register_Options
00223   * @{
00224   */
00225 ///ALARM_EN register
00226 typedef enum {
00227   L6474_ALARM_EN_OVERCURRENT      = ((uint8_t) 0x01),
00228   L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
00229   L6474_ALARM_EN_THERMAL_WARNING  = ((uint8_t) 0x04),
00230   L6474_ALARM_EN_UNDERVOLTAGE     = ((uint8_t) 0x08),
00231   L6474_ALARM_EN_SW_TURN_ON       = ((uint8_t) 0x40),
00232   L6474_ALARM_EN_WRONG_NPERF_CMD  = ((uint8_t) 0x80)
00233 } L6474_ALARM_EN_t;
00234 /**
00235   * @}
00236   */
00237 
00238 /** @defgroup L6474_CONFIG_Register_Masks
00239   * @{
00240   */
00241 ///CONFIG register
00242 typedef enum {
00243   L6474_CONFIG_OSC_SEL  = ((uint16_t) 0x0007),
00244   L6474_CONFIG_EXT_CLK  = ((uint16_t) 0x0008),
00245   L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
00246   L6474_CONFIG_OC_SD    = ((uint16_t) 0x0080),
00247   L6474_CONFIG_POW_SR   = ((uint16_t) 0x0300),
00248   L6474_CONFIG_TOFF      = ((uint16_t) 0x7C00)
00249 } L6474_CONFIG_Masks_t;
00250 /**
00251   * @}
00252   */
00253 
00254 /** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register
00255   * @{
00256   */
00257 ///Clock source option for CONFIG register
00258 typedef enum {
00259   L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
00260   L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ   = ((uint16_t) 0x0008),
00261   L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ   = ((uint16_t) 0x0009),
00262   L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ   = ((uint16_t) 0x000A),
00263   L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ  = ((uint16_t) 0x000B),
00264   L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE     = ((uint16_t) 0x0004),
00265   L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE    = ((uint16_t) 0x0005),
00266   L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE    = ((uint16_t) 0x0006),
00267   L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE    = ((uint16_t) 0x0007),
00268   L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT  = ((uint16_t) 0x000C),
00269   L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
00270   L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
00271   L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
00272 } L6474_CONFIG_OSC_MGMT_t;
00273 /**
00274   * @}
00275   */
00276 
00277 /** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register
00278   * @{
00279   */
00280 ///External Torque regulation options for CONFIG register
00281 typedef enum {
00282   L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
00283   L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
00284 } L6474_CONFIG_EN_TQREG_t;
00285 /**
00286   * @}
00287   */
00288 
00289 /** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register
00290   * @{
00291   */
00292 ///Over Current Shutdown options for CONFIG register
00293 typedef enum {
00294   L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
00295   L6474_CONFIG_OC_SD_ENABLE  = ((uint16_t) 0x0080)
00296 } L6474_CONFIG_OC_SD_t;
00297 /**
00298   * @}
00299   */
00300 
00301 /** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options
00302   * @{
00303   */
00304 /// POW_SR values for CONFIG register
00305 typedef enum {
00306   L6474_CONFIG_SR_320V_us    =((uint16_t)0x0000),
00307   L6474_CONFIG_SR_075V_us    =((uint16_t)0x0100),
00308   L6474_CONFIG_SR_110V_us    =((uint16_t)0x0200),
00309   L6474_CONFIG_SR_260V_us    =((uint16_t)0x0300)
00310 } L6474_CONFIG_POW_SR_t;
00311 /**
00312   * @}
00313   */
00314 
00315 /** @defgroup L6474_Off_Time_Options
00316   * @{
00317   */
00318 /// TOFF values for CONFIG register
00319 typedef enum {
00320   L6474_CONFIG_TOFF_004us   = (((uint16_t) 0x01) << 10),
00321   L6474_CONFIG_TOFF_008us   = (((uint16_t) 0x02) << 10),
00322   L6474_CONFIG_TOFF_012us  = (((uint16_t) 0x03) << 10),
00323   L6474_CONFIG_TOFF_016us  = (((uint16_t) 0x04) << 10),
00324   L6474_CONFIG_TOFF_020us  = (((uint16_t) 0x05) << 10),
00325   L6474_CONFIG_TOFF_024us  = (((uint16_t) 0x06) << 10),
00326   L6474_CONFIG_TOFF_028us  = (((uint16_t) 0x07) << 10),
00327   L6474_CONFIG_TOFF_032us  = (((uint16_t) 0x08) << 10),
00328   L6474_CONFIG_TOFF_036us  = (((uint16_t) 0x09) << 10),
00329   L6474_CONFIG_TOFF_040us  = (((uint16_t) 0x0A) << 10),
00330   L6474_CONFIG_TOFF_044us  = (((uint16_t) 0x0B) << 10),
00331   L6474_CONFIG_TOFF_048us  = (((uint16_t) 0x0C) << 10),
00332   L6474_CONFIG_TOFF_052us  = (((uint16_t) 0x0D) << 10),
00333   L6474_CONFIG_TOFF_056us  = (((uint16_t) 0x0E) << 10),
00334   L6474_CONFIG_TOFF_060us  = (((uint16_t) 0x0F) << 10),
00335   L6474_CONFIG_TOFF_064us  = (((uint16_t) 0x10) << 10),
00336   L6474_CONFIG_TOFF_068us  = (((uint16_t) 0x11) << 10),
00337   L6474_CONFIG_TOFF_072us  = (((uint16_t) 0x12) << 10),
00338   L6474_CONFIG_TOFF_076us  = (((uint16_t) 0x13) << 10),
00339   L6474_CONFIG_TOFF_080us  = (((uint16_t) 0x14) << 10),
00340   L6474_CONFIG_TOFF_084us  = (((uint16_t) 0x15) << 10),
00341   L6474_CONFIG_TOFF_088us  = (((uint16_t) 0x16) << 10),
00342   L6474_CONFIG_TOFF_092us  = (((uint16_t) 0x17) << 10),
00343   L6474_CONFIG_TOFF_096us  = (((uint16_t) 0x18) << 10),
00344   L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
00345   L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
00346   L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
00347   L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
00348   L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
00349   L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
00350   L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
00351 } L6474_CONFIG_TOFF_t;
00352 /**
00353   * @}
00354   */
00355 
00356 /** @defgroup L6474_STATUS_Register_Bit_Masks
00357   * @{
00358   */
00359 ///STATUS Register Bit Masks
00360 typedef enum {
00361   L6474_STATUS_HIZ         = (((uint16_t) 0x0001)),
00362   L6474_STATUS_DIR         = (((uint16_t) 0x0010)),
00363   L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
00364   L6474_STATUS_WRONG_CMD   = (((uint16_t) 0x0100)),
00365   L6474_STATUS_UVLO        = (((uint16_t) 0x0200)),
00366   L6474_STATUS_TH_WRN      = (((uint16_t) 0x0400)),
00367   L6474_STATUS_TH_SD       = (((uint16_t) 0x0800)),
00368   L6474_STATUS_OCD         = (((uint16_t) 0x1000))
00369 } L6474_STATUS_Masks_t;
00370 /**
00371   * @}
00372   */
00373 
00374 /** @defgroup L6474_Direction_Field_Of_STATUS_Register
00375   * @{
00376   */  
00377 ///Diretion field of STATUS register
00378 typedef enum {
00379   L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
00380   L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
00381 } L6474_STATUS_DIR_t;
00382 /**
00383   * @}
00384   */
00385 
00386 /** @defgroup L6474_Internal_Register_Addresses
00387   * @{
00388   */
00389 /// Internal L6474 register addresses
00390 typedef enum {
00391   L6474_ABS_POS        = ((uint8_t) 0x01),
00392   L6474_EL_POS         = ((uint8_t) 0x02),
00393   L6474_MARK           = ((uint8_t) 0x03),
00394   L6474_RESERVED_REG01 = ((uint8_t) 0x04),
00395   L6474_RESERVED_REG02 = ((uint8_t) 0x05),
00396   L6474_RESERVED_REG03 = ((uint8_t) 0x06),
00397   L6474_RESERVED_REG04 = ((uint8_t) 0x07),
00398   L6474_RESERVED_REG05 = ((uint8_t) 0x08),
00399   L6474_RESERVED_REG06 = ((uint8_t) 0x15),
00400   L6474_TVAL           = ((uint8_t) 0x09),
00401   L6474_RESERVED_REG07 = ((uint8_t) 0x0A),
00402   L6474_RESERVED_REG08 = ((uint8_t) 0x0B),
00403   L6474_RESERVED_REG09 = ((uint8_t) 0x0C),
00404   L6474_RESERVED_REG10 = ((uint8_t) 0x0D),
00405   L6474_T_FAST         = ((uint8_t) 0x0E),
00406   L6474_TON_MIN        = ((uint8_t) 0x0F),
00407   L6474_TOFF_MIN       = ((uint8_t) 0x10),
00408   L6474_RESERVED_REG11 = ((uint8_t) 0x11),
00409   L6474_ADC_OUT        = ((uint8_t) 0x12),
00410   L6474_OCD_TH         = ((uint8_t) 0x13),
00411   L6474_RESERVED_REG12 = ((uint8_t) 0x14),
00412   L6474_STEP_MODE      = ((uint8_t) 0x16),
00413   L6474_ALARM_EN       = ((uint8_t) 0x17),
00414   L6474_CONFIG         = ((uint8_t) 0x18),
00415   L6474_STATUS         = ((uint8_t) 0x19),
00416   L6474_RESERVED_REG13 = ((uint8_t) 0x1A),
00417   L6474_RESERVED_REG14 = ((uint8_t) 0x1B),
00418   L6474_INEXISTENT_REG = ((uint8_t) 0x1F)
00419 } L6474_Registers_t;
00420 /**
00421   * @}
00422   */
00423 
00424 /** @defgroup L6474_Command_Set
00425   * @{
00426   */
00427 /// L6474 command set
00428 typedef enum {
00429   L6474_NOP           = ((uint8_t) 0x00),
00430   L6474_SET_PARAM     = ((uint8_t) 0x00),
00431   L6474_GET_PARAM     = ((uint8_t) 0x20),
00432   L6474_ENABLE        = ((uint8_t) 0xB8),
00433   L6474_DISABLE       = ((uint8_t) 0xA8),
00434   L6474_GET_STATUS    = ((uint8_t) 0xD0),
00435   L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
00436   L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
00437 } L6474_Commands_t;
00438 /**
00439   * @}
00440   */
00441 
00442 
00443 /** @defgroup Device_Commands
00444   * @{
00445   */
00446 /// Device commands 
00447 typedef enum {
00448   RUN_CMD, 
00449   MOVE_CMD, 
00450   SOFT_STOP_CMD, 
00451   NO_CMD
00452 } deviceCommand_t;
00453 /**
00454   * @}
00455   */
00456 
00457 
00458 /** @defgroup Device_Parameters
00459   * @{
00460   */
00461 
00462 /// Device Parameters Structure Type
00463 typedef struct {
00464     /// accumulator used to store speed increase smaller than 1 pps
00465     volatile uint32_t accu;           
00466     /// Position in steps at the start of the goto or move commands
00467     volatile int32_t currentPosition; 
00468     /// position in step at the end of the accelerating phase
00469     volatile uint32_t endAccPos;      
00470     /// nb steps performed from the beggining of the goto or the move command
00471     volatile uint32_t relativePos;    
00472     /// position in step at the start of the decelerating phase
00473     volatile uint32_t startDecPos;    
00474     /// nb steps to perform for the goto or move commands
00475     volatile uint32_t stepsToTake;   
00476     
00477     /// acceleration in pps^2 
00478     volatile uint16_t acceleration;  
00479     /// deceleration in pps^2
00480     volatile uint16_t deceleration;  
00481     /// max speed in pps (speed use for goto or move command)
00482     volatile uint16_t maxSpeed;      
00483     /// min speed in pps
00484     volatile uint16_t minSpeed;      
00485     /// current speed in pps    
00486     volatile uint16_t speed;         
00487     
00488     /// command under execution
00489     volatile deviceCommand_t commandExecuted; 
00490     /// FORWARD or BACKWARD direction
00491     volatile motorDir_t direction;                 
00492     /// Current State of the device
00493     volatile motorState_t motionState;       
00494 }deviceParams_t; 
00495 
00496 /**
00497   * @}
00498   */
00499 
00500 /**
00501   * @}
00502   */
00503 
00504 /* Exported functions --------------------------------------------------------*/
00505 
00506 
00507 /** @defgroup L6474_Exported_Functions
00508   * @{
00509   */   
00510 
00511 /** @defgroup Device_Control_Functions
00512   * @{
00513   */   
00514 void L6474_AttachErrorHandler(void (*callback)(uint16_t));  //Attach a user callback to the error handler
00515 void L6474_AttachFlagInterrupt(void (*callback)(void));     //Attach a user callback to the flag Interrupt
00516 void L6474_Init(uint8_t nbDevices);                         //Start the L6474 library
00517 uint16_t L6474_GetAcceleration(uint8_t deviceId);           //Return the acceleration in pps^2
00518 uint16_t L6474_GetCurrentSpeed(uint8_t deviceId);           //Return the current speed in pps
00519 uint16_t L6474_GetDeceleration(uint8_t deviceId);           //Return the deceleration in pps^2
00520 motorState_t L6474_GetDeviceState(uint8_t deviceId);        //Return the device state
00521 motorDrv_t* L6474_GetMotorHandle(void);                     //Return handle of the motor driver handle
00522 uint8_t L6474_GetFwVersion(void);                           //Return the FW version
00523 int32_t L6474_GetMark(uint8_t deviceId);                    //Return the mark position 
00524 uint16_t L6474_GetMaxSpeed(uint8_t deviceId);               //Return the max speed in pps
00525 uint16_t L6474_GetMinSpeed(uint8_t deviceId);               //Return the min speed in pps
00526 int32_t L6474_GetPosition(uint8_t deviceId);                //Return the ABS_POSITION (32b signed)
00527 void L6474_GoHome(uint8_t deviceId);                        //Move to the home position
00528 void L6474_GoMark(uint8_t deviceId);                        //Move to the Mark position
00529 void L6474_GoTo(uint8_t deviceId, int32_t targetPosition);  //Go to the specified position
00530 void L6474_HardStop(uint8_t deviceId);                      //Stop the motor and disable the power bridge
00531 void L6474_Move(uint8_t deviceId,                           //Move the motor of the specified number of steps
00532                 motorDir_t direction,
00533                 uint32_t stepCount);    
00534 uint16_t L6474_ReadId(void);                                //Read Id to get driver instance
00535 void L6474_ResetAllDevices(void);                           //Reset all L6474 devices
00536 void L6474_Run(uint8_t deviceId, motorDir_t direction);     //Run the motor 
00537 bool L6474_SetAcceleration(uint8_t deviceId,uint16_t newAcc); //Set the acceleration in pps^2
00538 bool L6474_SetDeceleration(uint8_t deviceId,uint16_t newDec); //Set the deceleration in pps^2
00539 void L6474_SetHome(uint8_t deviceId);                         //Set current position to be the home position
00540 void L6474_SetMark(uint8_t deviceId);                         //Set current position to be the Markposition
00541 bool L6474_SetMaxSpeed(uint8_t deviceId,uint16_t newMaxSpeed); //Set the max speed in pps
00542 bool L6474_SetMinSpeed(uint8_t deviceId,uint16_t newMinSpeed); //Set the min speed in pps   
00543 bool L6474_SoftStop(uint8_t deviceId);                         //Progressively stops the motor 
00544 void L6474_WaitWhileActive(uint8_t deviceId);                  //Wait for the device state becomes Inactive
00545 /**
00546   * @}
00547   */
00548 
00549 /** @defgroup L6474_Control_Functions
00550   * @{
00551   */   
00552 void L6474_CmdDisable(uint8_t deviceId);              //Send the L6474_DISABLE command
00553 void L6474_CmdEnable(uint8_t deviceId);               //Send the L6474_ENABLE command
00554 uint32_t L6474_CmdGetParam(uint8_t deviceId,          //Send the L6474_GET_PARAM command
00555                            uint32_t param);
00556 uint16_t L6474_CmdGetStatus(uint8_t deviceId);        // Send the L6474_GET_STATUS command
00557 void L6474_CmdNop(uint8_t deviceId);                  //Send the L6474_NOP command
00558 void L6474_CmdSetParam(uint8_t deviceId,              //Send the L6474_SET_PARAM command
00559                        uint32_t param,       
00560                        uint32_t value);
00561 uint16_t L6474_ReadStatusRegister(uint8_t deviceId);  // Read the L6474_STATUS register without
00562                                                         // clearing the flags
00563 void L6474_Reset(void);                               //Set the L6474 reset pin 
00564 void L6474_ReleaseReset(void);                        //Release the L6474 reset pin 
00565 void L6474_SelectStepMode(uint8_t deviceId,           // Step mode selection
00566                           motorStepMode_t stepMod);     
00567 void L6474_SetDirection(uint8_t deviceId,             //Set the L6474 direction pin
00568                         motorDir_t direction);      
00569 /**
00570   * @}
00571   */
00572 
00573 /** @defgroup MotorControl_Board_Linked_Functions
00574   * @{
00575   */   
00576 ///Delay of the requested number of milliseconds
00577 void BSP_MotorControlBoard_Delay(uint32_t delay);         
00578 ///Enable Irq
00579 void BSP_MotorControlBoard_EnableIrq(void);               
00580 ///Disable Irq
00581 void BSP_MotorControlBoard_DisableIrq(void);              
00582 ///Initialise GPIOs used for L6474s
00583 void BSP_MotorControlBoard_GpioInit(uint8_t nbDevices);   
00584 ///Set PWM1 frequency and start it
00585 void BSP_MotorControlBoard_Pwm1SetFreq(uint16_t newFreq); 
00586 ///Set PWM2 frequency and start it  
00587 void BSP_MotorControlBoard_Pwm2SetFreq(uint16_t newFreq); 
00588 ///Set PWM3 frequency and start it
00589 void BSP_MotorControlBoard_Pwm3SetFreq(uint16_t newFreq); 
00590 ///Init the PWM of the specified device
00591 void BSP_MotorControlBoard_PwmInit(uint8_t deviceId);    
00592 ///Stop the PWM of the specified device
00593 void BSP_MotorControlBoard_PwmStop(uint8_t deviceId);    
00594 ///Reset the L6474 reset pin 
00595 void BSP_MotorControlBoard_ReleaseReset(void);           
00596 ///Set the L6474 reset pin 
00597 void BSP_MotorControlBoard_Reset(void);                  
00598 ///Set direction GPIO
00599 void BSP_MotorControlBoard_SetDirectionGpio(uint8_t deviceId, uint8_t gpioState); 
00600 ///Initialise the SPI used for L6474s
00601 uint8_t BSP_MotorControlBoard_SpiInit(void);   
00602 ///Write bytes to the L6474s via SPI
00603 uint8_t BSP_MotorControlBoard_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte, uint8_t nbDevices); 
00604 /**
00605   * @}
00606   */
00607 
00608 
00609 /**
00610   * @}
00611   */
00612 
00613 /**
00614   * @}
00615   */
00616 
00617 /**
00618   * @}
00619   */
00620 
00621 #ifdef __cplusplus
00622   }
00623 #endif
00624 
00625 #endif /* #ifndef __L6474_H */
00626 
00627 
00628 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/