Julien Tiron
Speed profile working
Diff: easyspin.h
- Revision:
- 0:cba942f8172a
- Child:
- 1:9efe863db15e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/easyspin.h Tue Jul 07 20:35:36 2015 +0000
@@ -0,0 +1,531 @@
+/******************************************************//**
+ * @file easyspin.h
+ * @version V1.0
+ * @date June 29, 2015
+ * @brief Header for easyspin library for mbed
+ *
+ * This file is free software; you can redistribute it and/or modify
+ * it under the terms of either the GNU General Public License version 2
+ * or the GNU Lesser General Public License version 2.1, both as
+ * published by the Free Software Foundation.
+ **********************************************************/
+
+#ifndef __Easyspin_H_INCLUDED
+#define __Easyspin_H_INCLUDED
+
+#include "easyspin_config.h"
+#include "mbed.h"
+
+/// Define to print debug logs via the UART
+#ifndef _DEBUG_Easyspin
+//#define _DEBUG_Easyspin
+#endif
+
+#ifdef _DEBUG_Easyspin
+/// Size of the log buffer
+#define DEBUG_BUFFER_SIZE (75)
+/// Log buffer
+extern char EasyspinStrOut[DEBUG_BUFFER_SIZE];
+#endif
+
+/// Clear bit Macro
+#ifndef cbi
+ #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))
+#endif
+
+/// Set bit Macro
+#ifndef sbi
+ #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))
+#endif
+
+/// Current FW version
+#define Easyspin_FW_VERSION (1)
+
+/// Digital Pins used for the Easyspin MOSI pin
+#define Easyspin_MOSI_Pin PA_7
+/// Digital Pins used for the Easyspin MISO pin
+#define Easyspin_MISO_Pin PA_6
+/// Digital Pins used for the Easyspin SCK pin
+#define Easyspin_SCK_Pin PA_5
+/// Digital Pins used for the Easyspin flag pin
+#define Easyspin_FLAG_Pin PA_10 //(2)
+/// Digital Pins used for the Easyspin chip select pin
+#define Easyspin_CS_Pin PB_6
+/// Digital Pins used for the Easyspin step clock pin of shield 0
+#define Easyspin_PWM_1_Pin PC_7 //(9)
+/// Digital Pins used for the Easyspin step clock pin of shield 1
+#define Easyspin_PWM_2_Pin PB_3 //(3)
+/// Digital Pins used for the Easyspin step clock pin of shield 2
+#define Easyspin_PWM_3_Pin PB_10 //(6)
+/// Digital Pins used for the Easyspin direction pin of shield 0
+#define Easyspin_DIR_1_Pin PA_8 //(7)
+/// Digital Pins used for the Easyspin direction pin of shield 1
+#define Easyspin_DIR_2_Pin PB_5 //(4)
+/// Digital Pins used for the Easyspin direction pin of shield 2
+#define Easyspin_DIR_3_Pin PB_4 //(5)
+/// Digital Pins used for the Easyspin reset pin
+#define Easyspin_Reset_Pin PA_9 //(8)
+/// Maximum number of steps
+#define MAX_STEPS (0x7FFFFFFF)
+/// uint8_t max value
+#define UINT8_MAX (uint8_t)(0XFF)
+/// uint16_t max value
+#define UINT16_MAX (uint16_t)(0XFFFF)
+
+/// Pwm prescaler array size for timer 0 & 1
+#define PRESCALER_ARRAY_TIMER0_1_SIZE (6)
+/// Pwm prescaler array size for timer 2
+#define PRESCALER_ARRAY_TIMER2_SIZE (8)
+
+/// Maximum frequency of the PWMs
+#define Easyspin_MAX_PWM_FREQ (10000)
+/// Minimum frequency of the PWMs
+#define Easyspin_MIN_PWM_FREQ (30)
+
+/// Easyspin max number of bytes of command & arguments to set a parameter
+#define Easyspin_CMD_ARG_MAX_NB_BYTES (4)
+
+/// Easyspin command + argument bytes number for NOP command
+#define Easyspin_CMD_ARG_NB_BYTES_NOP (1)
+/// Easyspin command + argument bytes number for ENABLE command
+#define Easyspin_CMD_ARG_NB_BYTES_ENABLE (1)
+/// Easyspin command + argument bytes number for DISABLE command
+#define Easyspin_CMD_ARG_NB_BYTES_DISABLE (1)
+/// Easyspin command + argument bytes number for GET_STATUS command
+#define Easyspin_CMD_ARG_NB_BYTES_GET_STATUS (1)
+
+/// Easyspin response bytes number
+#define Easyspin_RSP_NB_BYTES_GET_STATUS (2)
+
+/// Daisy chain command mask
+#define DAISY_CHAIN_COMMAND_MASK (0xFA)
+
+/// Easyspin value mask for ABS_POS register
+#define Easyspin_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF)
+/// Easyspin sign bit mask for ABS_POS register
+#define Easyspin_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
+
+/// Easyspin step mask for electrical position (EL_POS) register
+#define Easyspin_ELPOS_STEP_MASK ((uint8_t)0xC0)
+/// Easyspin microstep mask for electrical position (EL_POS) register
+#define Easyspin_ELPOS_MICROSTEP_MASK ((uint8_t)0x3F)
+
+/// Easyspin fast decay time option (TOFF_FAST values for T_FAST register )
+typedef enum {
+ Easyspin_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
+ Easyspin_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
+ Easyspin_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
+ Easyspin_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
+ Easyspin_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
+ Easyspin_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
+ Easyspin_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
+ Easyspin_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
+ Easyspin_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
+ Easyspin_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
+ Easyspin_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
+ Easyspin_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
+ Easyspin_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
+ Easyspin_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
+ Easyspin_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
+ Easyspin_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
+} Easyspin_TOFF_FAST_t;
+
+/// Easyspin fall step time options (FAST_STEP values for T_FAST register )
+typedef enum {
+ Easyspin_FAST_STEP_2us = ((uint8_t) 0x00),
+ Easyspin_FAST_STEP_4us = ((uint8_t) 0x01),
+ Easyspin_FAST_STEP_6us = ((uint8_t) 0x02),
+ Easyspin_FAST_STEP_8us = ((uint8_t) 0x03),
+ Easyspin_FAST_STEP_10us = ((uint8_t) 0x04),
+ Easyspin_FAST_STEP_12us = ((uint8_t) 0x05),
+ Easyspin_FAST_STEP_14us = ((uint8_t) 0x06),
+ Easyspin_FAST_STEP_16us = ((uint8_t) 0x07),
+ Easyspin_FAST_STEP_18us = ((uint8_t) 0x08),
+ Easyspin_FAST_STEP_20us = ((uint8_t) 0x09),
+ Easyspin_FAST_STEP_22us = ((uint8_t) 0x0A),
+ Easyspin_FAST_STEP_24us = ((uint8_t) 0x0B),
+ Easyspin_FAST_STEP_26us = ((uint8_t) 0x0C),
+ Easyspin_FAST_STEP_28us = ((uint8_t) 0x0D),
+ Easyspin_FAST_STEP_30us = ((uint8_t) 0x0E),
+ Easyspin_FAST_STEP_32us = ((uint8_t) 0x0F)
+} Easyspin_FAST_STEP_t;
+
+/// Easyspin overcurrent threshold options (OCD_TH register)
+typedef enum {
+ Easyspin_OCD_TH_375mA = ((uint8_t) 0x00),
+ Easyspin_OCD_TH_750mA = ((uint8_t) 0x01),
+ Easyspin_OCD_TH_1125mA = ((uint8_t) 0x02),
+ Easyspin_OCD_TH_1500mA = ((uint8_t) 0x03),
+ Easyspin_OCD_TH_1875mA = ((uint8_t) 0x04),
+ Easyspin_OCD_TH_2250mA = ((uint8_t) 0x05),
+ Easyspin_OCD_TH_2625mA = ((uint8_t) 0x06),
+ Easyspin_OCD_TH_3000mA = ((uint8_t) 0x07),
+ Easyspin_OCD_TH_3375mA = ((uint8_t) 0x08),
+ Easyspin_OCD_TH_3750mA = ((uint8_t) 0x09),
+ Easyspin_OCD_TH_4125mA = ((uint8_t) 0x0A),
+ Easyspin_OCD_TH_4500mA = ((uint8_t) 0x0B),
+ Easyspin_OCD_TH_4875mA = ((uint8_t) 0x0C),
+ Easyspin_OCD_TH_5250mA = ((uint8_t) 0x0D),
+ Easyspin_OCD_TH_5625mA = ((uint8_t) 0x0E),
+ Easyspin_OCD_TH_6000mA = ((uint8_t) 0x0F)
+} Easyspin_OCD_TH_t;
+
+/// Easyspin STEP_MODE register masks
+typedef enum {
+ Easyspin_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
+ Easyspin_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
+} Easyspin_STEP_MODE_Masks_t;
+
+/// Easyspin STEP_SEL options for STEP_MODE register
+typedef enum {
+ Easyspin_STEP_SEL_1 = ((uint8_t) 0x08), //full step
+ Easyspin_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step
+ Easyspin_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep
+ Easyspin_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep
+ Easyspin_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep
+} Easyspin_STEP_SEL_t;
+
+/// Easyspin SYNC_SEL options for STEP_MODE register
+typedef enum {
+ Easyspin_SYNC_SEL_1_2 = ((uint8_t) 0x80),
+ Easyspin_SYNC_SEL_1 = ((uint8_t) 0x90),
+ Easyspin_SYNC_SEL_2 = ((uint8_t) 0xA0),
+ Easyspin_SYNC_SEL_4 = ((uint8_t) 0xB0),
+ Easyspin_SYNC_SEL_8 = ((uint8_t) 0xC0),
+ Easyspin_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
+} Easyspin_SYNC_SEL_t;
+
+/// Easyspin ALARM_EN register options
+typedef enum {
+ Easyspin_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01),
+ Easyspin_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
+ Easyspin_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04),
+ Easyspin_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08),
+ Easyspin_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40),
+ Easyspin_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80)
+} Easyspin_ALARM_EN_t;
+
+/// Easyspin CONFIG register masks
+typedef enum {
+ Easyspin_CONFIG_OSC_SEL = ((uint16_t) 0x0007),
+ Easyspin_CONFIG_EXT_CLK = ((uint16_t) 0x0008),
+ Easyspin_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
+ Easyspin_CONFIG_OC_SD = ((uint16_t) 0x0080),
+ Easyspin_CONFIG_POW_SR = ((uint16_t) 0x0300),
+ Easyspin_CONFIG_TOFF = ((uint16_t) 0x7C00)
+} Easyspin_CONFIG_Masks_t;
+
+/// Easyspin clock source options for CONFIG register
+typedef enum {
+ Easyspin_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
+ Easyspin_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008),
+ Easyspin_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009),
+ Easyspin_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A),
+ Easyspin_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B),
+ Easyspin_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004),
+ Easyspin_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005),
+ Easyspin_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006),
+ Easyspin_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007),
+ Easyspin_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C),
+ Easyspin_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
+ Easyspin_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
+ Easyspin_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
+} Easyspin_CONFIG_OSC_MGMT_t;
+
+/// Easyspin external torque regulation options for CONFIG register
+typedef enum {
+ Easyspin_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
+ Easyspin_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
+} Easyspin_CONFIG_EN_TQREG_t;
+
+/// Easyspin over current shutdown options for CONFIG register
+typedef enum {
+ Easyspin_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
+ Easyspin_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080)
+} Easyspin_CONFIG_OC_SD_t;
+
+/// Easyspin power bridge output slew_rates options (POW_SR values for CONFIG register)
+typedef enum {
+ Easyspin_CONFIG_SR_320V_us =((uint16_t)0x0000),
+ Easyspin_CONFIG_SR_075V_us =((uint16_t)0x0100),
+ Easyspin_CONFIG_SR_110V_us =((uint16_t)0x0200),
+ Easyspin_CONFIG_SR_260V_us =((uint16_t)0x0300)
+} Easyspin_CONFIG_POW_SR_t;
+
+/// Easyspin Off time options (TOFF values for CONFIG register)
+typedef enum {
+ Easyspin_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10),
+ Easyspin_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10),
+ Easyspin_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10),
+ Easyspin_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10),
+ Easyspin_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10),
+ Easyspin_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10),
+ Easyspin_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10),
+ Easyspin_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10),
+ Easyspin_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10),
+ Easyspin_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10),
+ Easyspin_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10),
+ Easyspin_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10),
+ Easyspin_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10),
+ Easyspin_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10),
+ Easyspin_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10),
+ Easyspin_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10),
+ Easyspin_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10),
+ Easyspin_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10),
+ Easyspin_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10),
+ Easyspin_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10),
+ Easyspin_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10),
+ Easyspin_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10),
+ Easyspin_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10),
+ Easyspin_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10),
+ Easyspin_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
+ Easyspin_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
+ Easyspin_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
+ Easyspin_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
+ Easyspin_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
+ Easyspin_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
+ Easyspin_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
+} Easyspin_CONFIG_TOFF_t;
+
+/// Easyspin STATUS register bit masks
+typedef enum {
+ Easyspin_STATUS_HIZ = (((uint16_t) 0x0001)),
+ Easyspin_STATUS_DIR = (((uint16_t) 0x0010)),
+ Easyspin_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
+ Easyspin_STATUS_WRONG_CMD = (((uint16_t) 0x0100)),
+ Easyspin_STATUS_UVLO = (((uint16_t) 0x0200)),
+ Easyspin_STATUS_TH_WRN = (((uint16_t) 0x0400)),
+ Easyspin_STATUS_TH_SD = (((uint16_t) 0x0800)),
+ Easyspin_STATUS_OCD = (((uint16_t) 0x1000))
+} Easyspin_STATUS_Masks_t;
+
+/// Easyspin STATUS register options
+typedef enum {
+ Easyspin_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
+ Easyspin_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
+} Easyspin_STATUS_DIR_t;
+
+/// Easyspin internal register addresses
+typedef enum {
+ Easyspin_ABS_POS = ((uint8_t) 0x01),
+ Easyspin_EL_POS = ((uint8_t) 0x02),
+ Easyspin_MARK = ((uint8_t) 0x03),
+ Easyspin_RESERVED_REG01 = ((uint8_t) 0x04),
+ Easyspin_RESERVED_REG02 = ((uint8_t) 0x05),
+ Easyspin_RESERVED_REG03 = ((uint8_t) 0x06),
+ Easyspin_RESERVED_REG04 = ((uint8_t) 0x07),
+ Easyspin_RESERVED_REG05 = ((uint8_t) 0x08),
+ Easyspin_RESERVED_REG06 = ((uint8_t) 0x15),
+ Easyspin_TVAL = ((uint8_t) 0x09),
+ Easyspin_RESERVED_REG07 = ((uint8_t) 0x0A),
+ Easyspin_RESERVED_REG08 = ((uint8_t) 0x0B),
+ Easyspin_RESERVED_REG09 = ((uint8_t) 0x0C),
+ Easyspin_RESERVED_REG10 = ((uint8_t) 0x0D),
+ Easyspin_T_FAST = ((uint8_t) 0x0E),
+ Easyspin_TON_MIN = ((uint8_t) 0x0F),
+ Easyspin_TOFF_MIN = ((uint8_t) 0x10),
+ Easyspin_RESERVED_REG11 = ((uint8_t) 0x11),
+ Easyspin_ADC_OUT = ((uint8_t) 0x12),
+ Easyspin_OCD_TH = ((uint8_t) 0x13),
+ Easyspin_RESERVED_REG12 = ((uint8_t) 0x14),
+ Easyspin_STEP_MODE = ((uint8_t) 0x16),
+ Easyspin_ALARM_EN = ((uint8_t) 0x17),
+ Easyspin_CONFIG = ((uint8_t) 0x18),
+ Easyspin_STATUS = ((uint8_t) 0x19),
+ Easyspin_RESERVED_REG13 = ((uint8_t) 0x1A),
+ Easyspin_RESERVED_REG14 = ((uint8_t) 0x1B),
+ Easyspin_INEXISTENT_REG = ((uint8_t) 0x1F)
+} Easyspin_Registers_t;
+
+/// Easyspin command set
+typedef enum {
+ Easyspin_NOP = ((uint8_t) 0x00),
+ Easyspin_SET_PARAM = ((uint8_t) 0x00),
+ Easyspin_GET_PARAM = ((uint8_t) 0x20),
+ Easyspin_ENABLE = ((uint8_t) 0xB8),
+ Easyspin_DISABLE = ((uint8_t) 0xA8),
+ Easyspin_GET_STATUS = ((uint8_t) 0xD0),
+ Easyspin_RESERVED_CMD1 = ((uint8_t) 0xEB),
+ Easyspin_RESERVED_CMD2 = ((uint8_t) 0xF8)
+} Easyspin_Commands_t;
+
+/// Direction options
+typedef enum {
+ FORWARD = 1,
+ BACKWARD = 0
+} dir_t;
+
+/// Shield state
+typedef enum {
+ ACCELERATING = 0,
+ DECELERATING = 1,
+ STEADY = 2,
+ INACTIVE= 3
+} shieldState_t;
+
+/// Shield Commands
+typedef enum {
+ RUN_CMD,
+ MOVE_CMD,
+ SOFT_STOP_CMD,
+ NO_CMD
+} shieldCommand_t;
+
+/// Easyspin shield parameters
+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 shieldCommand_t commandExecuted;
+ /// FORWARD or BACKWARD direction
+ volatile dir_t direction;
+ /// Current State of the shield
+ volatile shieldState_t motionState;
+}shieldParams_t;
+
+/// Easyspin library class
+class Easyspin {
+ public:
+ // constructor:
+ Easyspin();
+
+ /// @defgroup group1 Shield control functions
+ ///@{
+ void AttachFlagInterrupt(void (*callback)(void)); //Attach a user callback to the flag Interrupt
+ void Begin(uint8_t nbShields); //Start the Easyspin library
+ uint16_t GetAcceleration(uint8_t shieldId); //Return the acceleration in pps^2
+ uint16_t GetCurrentSpeed(uint8_t shieldId); //Return the current speed in pps
+ uint16_t GetDeceleration(uint8_t shieldId); //Return the deceleration in pps^2
+ shieldState_t GetShieldState(uint8_t shieldId); //Return the shield state
+ uint8_t GetFwVersion(void); //Return the FW version
+ int32_t GetMark(uint8_t shieldId); //Return the mark position
+ uint16_t GetMaxSpeed(uint8_t shieldId); //Return the max speed in pps
+ uint16_t GetMinSpeed(uint8_t shieldId); //Return the min speed in pps
+ int32_t GetPosition(uint8_t shieldId); //Return the ABS_POSITION (32b signed)
+ void GoHome(uint8_t shieldId); //Move to the home position
+ void GoMark(uint8_t shieldId); //Move to the Mark position
+ void GoTo(uint8_t shieldId, int32_t targetPosition); //Go to the specified position
+ void HardStop(uint8_t shieldId); //Stop the motor and disable the power bridge
+ void Move(uint8_t shieldId, //Move the motor of the specified number of steps
+ dir_t direction,
+ uint32_t stepCount);
+ void ResetAllShields(void); //Reset all Easyspin shields
+ void Run(uint8_t shieldId, dir_t direction); //Run the motor
+ bool SetAcceleration(uint8_t shieldId,uint16_t newAcc); //Set the acceleration in pps^2
+ bool SetDeceleration(uint8_t shieldId,uint16_t newDec); //Set the deceleration in pps^2
+ void SetHome(uint8_t shieldId); //Set current position to be the home position
+ void SetMark(uint8_t shieldId); //Set current position to be the Markposition
+ bool SetMaxSpeed(uint8_t shieldId,uint16_t newMaxSpeed); //Set the max speed in pps
+ bool SetMinSpeed(uint8_t shieldId,uint16_t newMinSpeed); //Set the min speed in pps
+ bool SoftStop(uint8_t shieldId); //Progressively stops the motor
+ void WaitWhileActive(uint8_t shieldId); //Wait for the shield state becomes Inactive
+ ///@}
+
+ /// @defgroup group2 Easyspin control functions
+ ///@{
+ void CmdDisable(uint8_t shieldId); //Send the Easyspin_DISABLE command
+ void CmdEnable(uint8_t shieldId); //Send the Easyspin_ENABLE command
+ uint32_t CmdGetParam(uint8_t shieldId, //Send the Easyspin_GET_PARAM command
+ Easyspin_Registers_t param);
+ uint16_t CmdGetStatus(uint8_t shieldId); // Send the Easyspin_GET_STATUS command
+ void CmdNop(uint8_t shieldId); //Send the Easyspin_NOP command
+ void CmdSetParam(uint8_t shieldId, //Send the Easyspin_SET_PARAM command
+ Easyspin_Registers_t param,
+ uint32_t value);
+ uint16_t ReadStatusRegister(uint8_t shieldId); // Read the Easyspin_STATUS register without
+ // clearing the flags
+ void Reset(void); //Set the Easyspin reset pin
+ void ReleaseReset(void); //Release the Easyspin reset pin
+ void SelectStepMode(uint8_t shieldId, // Step mode selection
+ Easyspin_STEP_SEL_t stepMod);
+ void SetDirection(uint8_t shieldId, //Set the Easyspin direction pin
+ dir_t direction);
+ ///@}
+
+ /// @defgroup group3 Delay functions
+ ///@{
+ /// @brief Required when 3 Easyspin shields are used
+ /// to avoid conflicting depencieswith wiring.c
+ /// (redefinition of ISR(TIMER0_OVF_vect).
+ /// When only 2 Easyspin shields are used, prefer the use
+ /// of standard Arduino functions (delay, delayMicroseconds).
+ static void WaitMs(uint16_t msDelay); // Wait for a delay in ms
+ static void WaitUs(uint16_t usDelay); // Wait for a delay in us
+ ///@}
+
+ /// @defgroup group4 Functions for timer ISRs only
+ /// @brief To be used inside the library by the timer ISRs only
+ /// Must not be used elsewhere.
+ ///@{
+ static class Easyspin *GetInstancePtr(void);
+ void StepClockHandler(uint8_t shieldId);
+ ///@}
+
+ private:
+ void ApplySpeed(uint8_t pwmId, uint16_t newSpeed);
+ void ComputeSpeedProfile(uint8_t shieldId, uint32_t nbSteps);
+ int32_t ConvertPosition(uint32_t abs_position_reg);
+ static void FlagInterruptHandler(void);
+ void SendCommand(uint8_t shieldId, uint8_t param);
+ void SetRegisterToPredefinedValues(uint8_t shieldId);
+ void WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
+ void PwmInit(uint8_t pwmId);
+ void Pwm1SetFreq(uint16_t newFreq);
+ void Pwm2SetFreq(uint16_t newFreq);
+ void Pwm3SetFreq(uint16_t newFreq);
+ void PwmStop(uint8_t pwmId);
+ void SetShieldParamsToPredefinedValues(void);
+ void StartMovement(uint8_t shieldId);
+ uint8_t Tval_Current_to_Par(double Tval);
+ uint8_t Tmin_Time_to_Par(double Tmin);
+
+ // variable members
+ DigitalOut dir1;
+ DigitalOut dir2;
+ DigitalOut dir3;
+ PwmOut pwm1;
+ PwmOut pwm2;
+ PwmOut pwm3;
+ DigitalOut reset;
+ DigitalOut CS;
+ InterruptIn flag;
+ SPI spi;
+ shieldParams_t shieldPrm[MAX_NUMBER_OF_SHIELDS];
+ static volatile class Easyspin *instancePtr;
+ static volatile void(*flagInterruptCallback)(void);
+ static volatile bool isrFlag;
+ static volatile bool spiPreemtionByIsr;
+ static volatile uint8_t numberOfShields;
+ static const uint16_t prescalerArrayTimer0_1[PRESCALER_ARRAY_TIMER0_1_SIZE];
+ static const uint16_t prescalerArrayTimer2[PRESCALER_ARRAY_TIMER2_SIZE];
+ static uint8_t spiTxBursts[Easyspin_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_SHIELDS];
+ static uint8_t spiRxBursts[Easyspin_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_SHIELDS];
+};
+
+#ifdef _DEBUG_Easyspin
+uint16_t GetFreeRam (void);
+#endif
+
+#endif /* #ifndef __Easyspin_H_INCLUDED */