Julien Tiron
/
X_NUCLEO_IHM01A1
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Fork of
X_NUCLEO_IHM01A1
by 
Robotique FIP
Components/l6474/l6474.h@23:58264db10a17, 2016-02-15 (annotated)
- Committer:
- Davidroid
- Date:
- Mon Feb 15 15:54:56 2016 +0000
- Revision:
- 23:58264db10a17
- Parent:
- 22:ed3a6990a6eb
- Child:
- 24:258f0f60d30c
+ Updated some comments.
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| Davidroid | 0:2887415a46cd | 1 | /** |
| Davidroid | 22:ed3a6990a6eb | 2 | ****************************************************************************** |
| Davidroid | 22:ed3a6990a6eb | 3 | * @file l6474.h |
| Davidroid | 22:ed3a6990a6eb | 4 | * @author IPC Rennes |
| Davidroid | 22:ed3a6990a6eb | 5 | * @version V1.5.0 |
| Davidroid | 22:ed3a6990a6eb | 6 | * @date November 12, 2014 |
| Davidroid | 22:ed3a6990a6eb | 7 | * @brief Header for L6474 driver (fully integrated microstepping motor driver) |
| Davidroid | 22:ed3a6990a6eb | 8 | * @note (C) COPYRIGHT 2014 STMicroelectronics |
| Davidroid | 22:ed3a6990a6eb | 9 | ****************************************************************************** |
| Davidroid | 22:ed3a6990a6eb | 10 | * @attention |
| Davidroid | 22:ed3a6990a6eb | 11 | * |
| Davidroid | 22:ed3a6990a6eb | 12 | * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2> |
| Davidroid | 22:ed3a6990a6eb | 13 | * |
| Davidroid | 22:ed3a6990a6eb | 14 | * Redistribution and use in source and binary forms, with or without modification, |
| Davidroid | 22:ed3a6990a6eb | 15 | * are permitted provided that the following conditions are met: |
| Davidroid | 22:ed3a6990a6eb | 16 | * 1. Redistributions of source code must retain the above copyright notice, |
| Davidroid | 22:ed3a6990a6eb | 17 | * this list of conditions and the following disclaimer. |
| Davidroid | 22:ed3a6990a6eb | 18 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
| Davidroid | 22:ed3a6990a6eb | 19 | * this list of conditions and the following disclaimer in the documentation |
| Davidroid | 22:ed3a6990a6eb | 20 | * and/or other materials provided with the distribution. |
| Davidroid | 22:ed3a6990a6eb | 21 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
| Davidroid | 22:ed3a6990a6eb | 22 | * may be used to endorse or promote products derived from this software |
| Davidroid | 22:ed3a6990a6eb | 23 | * without specific prior written permission. |
| Davidroid | 22:ed3a6990a6eb | 24 | * |
| Davidroid | 22:ed3a6990a6eb | 25 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| Davidroid | 22:ed3a6990a6eb | 26 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| Davidroid | 22:ed3a6990a6eb | 27 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
| Davidroid | 22:ed3a6990a6eb | 28 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
| Davidroid | 22:ed3a6990a6eb | 29 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| Davidroid | 22:ed3a6990a6eb | 30 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
| Davidroid | 22:ed3a6990a6eb | 31 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
| Davidroid | 22:ed3a6990a6eb | 32 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
| Davidroid | 22:ed3a6990a6eb | 33 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| Davidroid | 22:ed3a6990a6eb | 34 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| Davidroid | 22:ed3a6990a6eb | 35 | * |
| Davidroid | 22:ed3a6990a6eb | 36 | ****************************************************************************** |
| Davidroid | 22:ed3a6990a6eb | 37 | */ |
| Davidroid | 22:ed3a6990a6eb | 38 | |
| Davidroid | 0:2887415a46cd | 39 | |
| Davidroid | 0:2887415a46cd | 40 | /* Define to prevent recursive inclusion -------------------------------------*/ |
| Davidroid | 22:ed3a6990a6eb | 41 | |
| Davidroid | 0:2887415a46cd | 42 | #ifndef __L6474_H |
| Davidroid | 0:2887415a46cd | 43 | #define __L6474_H |
| Davidroid | 0:2887415a46cd | 44 | |
| Davidroid | 0:2887415a46cd | 45 | #ifdef __cplusplus |
| Davidroid | 0:2887415a46cd | 46 | extern "C" { |
| Davidroid | 0:2887415a46cd | 47 | #endif |
| Davidroid | 0:2887415a46cd | 48 | |
| Davidroid | 22:ed3a6990a6eb | 49 | |
| Davidroid | 0:2887415a46cd | 50 | /* Includes ------------------------------------------------------------------*/ |
| Davidroid | 22:ed3a6990a6eb | 51 | |
| Davidroid | 0:2887415a46cd | 52 | #include "l6474_target_config.h" |
| Davidroid | 0:2887415a46cd | 53 | #include "../Common/motor.h" |
| Davidroid | 0:2887415a46cd | 54 | |
| Davidroid | 22:ed3a6990a6eb | 55 | |
| Davidroid | 22:ed3a6990a6eb | 56 | /* Definitions ---------------------------------------------------------------*/ |
| Davidroid | 22:ed3a6990a6eb | 57 | |
| Davidroid | 0:2887415a46cd | 58 | /** @addtogroup BSP |
| Davidroid | 22:ed3a6990a6eb | 59 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 60 | */ |
| Davidroid | 22:ed3a6990a6eb | 61 | |
| Davidroid | 22:ed3a6990a6eb | 62 | /** @addtogroup Components |
| Davidroid | 22:ed3a6990a6eb | 63 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 64 | */ |
| Davidroid | 22:ed3a6990a6eb | 65 | |
| Davidroid | 0:2887415a46cd | 66 | /** @addtogroup L6474 |
| Davidroid | 22:ed3a6990a6eb | 67 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 68 | */ |
| Davidroid | 22:ed3a6990a6eb | 69 | |
| Davidroid | 22:ed3a6990a6eb | 70 | /** @defgroup L6474_Exported_Defines L6474_Exported_Defines |
| Davidroid | 22:ed3a6990a6eb | 71 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 72 | */ |
| Davidroid | 0:2887415a46cd | 73 | |
| Davidroid | 0:2887415a46cd | 74 | /// Current FW version |
| Davidroid | 8:42e0b00b1e4d | 75 | #define L6474_FW_VERSION (5) |
| Davidroid | 0:2887415a46cd | 76 | |
| Davidroid | 0:2887415a46cd | 77 | /// L6474 max number of bytes of command & arguments to set a parameter |
| Davidroid | 0:2887415a46cd | 78 | #define L6474_CMD_ARG_MAX_NB_BYTES (4) |
| Davidroid | 0:2887415a46cd | 79 | |
| Davidroid | 0:2887415a46cd | 80 | /// L6474 command + argument bytes number for GET_STATUS command |
| Davidroid | 0:2887415a46cd | 81 | #define L6474_CMD_ARG_NB_BYTES_GET_STATUS (1) |
| Davidroid | 0:2887415a46cd | 82 | |
| Davidroid | 0:2887415a46cd | 83 | /// L6474 response bytes number |
| Davidroid | 0:2887415a46cd | 84 | #define L6474_RSP_NB_BYTES_GET_STATUS (2) |
| Davidroid | 0:2887415a46cd | 85 | |
| Davidroid | 0:2887415a46cd | 86 | /// L6474 value mask for ABS_POS register |
| Davidroid | 0:2887415a46cd | 87 | #define L6474_ABS_POS_VALUE_MASK ((uint32_t) 0x003FFFFF) |
| Davidroid | 0:2887415a46cd | 88 | |
| Davidroid | 0:2887415a46cd | 89 | /// L6474 sign bit mask for ABS_POS register |
| Davidroid | 0:2887415a46cd | 90 | #define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000) |
| Davidroid | 0:2887415a46cd | 91 | |
| Davidroid | 0:2887415a46cd | 92 | |
| Davidroid | 22:ed3a6990a6eb | 93 | /* Types ---------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 94 | |
| Davidroid | 0:2887415a46cd | 95 | /** @defgroup L6474_Exported_Types |
| Davidroid | 0:2887415a46cd | 96 | * @{ |
| Davidroid | 0:2887415a46cd | 97 | */ |
| Davidroid | 0:2887415a46cd | 98 | |
| Davidroid | 0:2887415a46cd | 99 | /** @defgroup L6474_Fast_Decay_Time_Options |
| Davidroid | 0:2887415a46cd | 100 | * @{ |
| Davidroid | 0:2887415a46cd | 101 | */ |
| Davidroid | 0:2887415a46cd | 102 | ///TOFF_FAST values for T_FAST register |
| Davidroid | 0:2887415a46cd | 103 | typedef enum { |
| Davidroid | 0:2887415a46cd | 104 | L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4), |
| Davidroid | 0:2887415a46cd | 105 | L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4), |
| Davidroid | 0:2887415a46cd | 106 | L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4), |
| Davidroid | 0:2887415a46cd | 107 | L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4), |
| Davidroid | 0:2887415a46cd | 108 | L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4), |
| Davidroid | 0:2887415a46cd | 109 | L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4), |
| Davidroid | 0:2887415a46cd | 110 | L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4), |
| Davidroid | 0:2887415a46cd | 111 | L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4), |
| Davidroid | 0:2887415a46cd | 112 | L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4), |
| Davidroid | 0:2887415a46cd | 113 | L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4), |
| Davidroid | 0:2887415a46cd | 114 | L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4), |
| Davidroid | 0:2887415a46cd | 115 | L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4), |
| Davidroid | 0:2887415a46cd | 116 | L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4), |
| Davidroid | 0:2887415a46cd | 117 | L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4), |
| Davidroid | 0:2887415a46cd | 118 | L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4), |
| Davidroid | 0:2887415a46cd | 119 | L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4) |
| Davidroid | 0:2887415a46cd | 120 | } L6474_TOFF_FAST_t; |
| Davidroid | 0:2887415a46cd | 121 | /** |
| Davidroid | 0:2887415a46cd | 122 | * @} |
| Davidroid | 0:2887415a46cd | 123 | */ |
| Davidroid | 0:2887415a46cd | 124 | |
| Davidroid | 0:2887415a46cd | 125 | /** @defgroup L6474_Fall_Step_Time_Options |
| Davidroid | 0:2887415a46cd | 126 | * @{ |
| Davidroid | 0:2887415a46cd | 127 | */ |
| Davidroid | 0:2887415a46cd | 128 | ///FAST_STEP values for T_FAST register |
| Davidroid | 0:2887415a46cd | 129 | typedef enum { |
| Davidroid | 0:2887415a46cd | 130 | L6474_FAST_STEP_2us = ((uint8_t) 0x00), |
| Davidroid | 0:2887415a46cd | 131 | L6474_FAST_STEP_4us = ((uint8_t) 0x01), |
| Davidroid | 0:2887415a46cd | 132 | L6474_FAST_STEP_6us = ((uint8_t) 0x02), |
| Davidroid | 0:2887415a46cd | 133 | L6474_FAST_STEP_8us = ((uint8_t) 0x03), |
| Davidroid | 0:2887415a46cd | 134 | L6474_FAST_STEP_10us = ((uint8_t) 0x04), |
| Davidroid | 0:2887415a46cd | 135 | L6474_FAST_STEP_12us = ((uint8_t) 0x05), |
| Davidroid | 0:2887415a46cd | 136 | L6474_FAST_STEP_14us = ((uint8_t) 0x06), |
| Davidroid | 0:2887415a46cd | 137 | L6474_FAST_STEP_16us = ((uint8_t) 0x07), |
| Davidroid | 0:2887415a46cd | 138 | L6474_FAST_STEP_18us = ((uint8_t) 0x08), |
| Davidroid | 0:2887415a46cd | 139 | L6474_FAST_STEP_20us = ((uint8_t) 0x09), |
| Davidroid | 0:2887415a46cd | 140 | L6474_FAST_STEP_22us = ((uint8_t) 0x0A), |
| Davidroid | 0:2887415a46cd | 141 | L6474_FAST_STEP_24us = ((uint8_t) 0x0B), |
| Davidroid | 0:2887415a46cd | 142 | L6474_FAST_STEP_26us = ((uint8_t) 0x0C), |
| Davidroid | 0:2887415a46cd | 143 | L6474_FAST_STEP_28us = ((uint8_t) 0x0D), |
| Davidroid | 0:2887415a46cd | 144 | L6474_FAST_STEP_30us = ((uint8_t) 0x0E), |
| Davidroid | 0:2887415a46cd | 145 | L6474_FAST_STEP_32us = ((uint8_t) 0x0F) |
| Davidroid | 0:2887415a46cd | 146 | } L6474_FAST_STEP_t; |
| Davidroid | 0:2887415a46cd | 147 | /** |
| Davidroid | 0:2887415a46cd | 148 | * @} |
| Davidroid | 0:2887415a46cd | 149 | */ |
| Davidroid | 0:2887415a46cd | 150 | |
| Davidroid | 0:2887415a46cd | 151 | /** @defgroup L6474_Overcurrent_Threshold_options |
| Davidroid | 0:2887415a46cd | 152 | * @{ |
| Davidroid | 0:2887415a46cd | 153 | */ |
| Davidroid | 0:2887415a46cd | 154 | ///OCD_TH register |
| Davidroid | 0:2887415a46cd | 155 | typedef enum { |
| Davidroid | 0:2887415a46cd | 156 | L6474_OCD_TH_375mA = ((uint8_t) 0x00), |
| Davidroid | 0:2887415a46cd | 157 | L6474_OCD_TH_750mA = ((uint8_t) 0x01), |
| Davidroid | 0:2887415a46cd | 158 | L6474_OCD_TH_1125mA = ((uint8_t) 0x02), |
| Davidroid | 0:2887415a46cd | 159 | L6474_OCD_TH_1500mA = ((uint8_t) 0x03), |
| Davidroid | 0:2887415a46cd | 160 | L6474_OCD_TH_1875mA = ((uint8_t) 0x04), |
| Davidroid | 0:2887415a46cd | 161 | L6474_OCD_TH_2250mA = ((uint8_t) 0x05), |
| Davidroid | 0:2887415a46cd | 162 | L6474_OCD_TH_2625mA = ((uint8_t) 0x06), |
| Davidroid | 0:2887415a46cd | 163 | L6474_OCD_TH_3000mA = ((uint8_t) 0x07), |
| Davidroid | 0:2887415a46cd | 164 | L6474_OCD_TH_3375mA = ((uint8_t) 0x08), |
| Davidroid | 0:2887415a46cd | 165 | L6474_OCD_TH_3750mA = ((uint8_t) 0x09), |
| Davidroid | 0:2887415a46cd | 166 | L6474_OCD_TH_4125mA = ((uint8_t) 0x0A), |
| Davidroid | 0:2887415a46cd | 167 | L6474_OCD_TH_4500mA = ((uint8_t) 0x0B), |
| Davidroid | 0:2887415a46cd | 168 | L6474_OCD_TH_4875mA = ((uint8_t) 0x0C), |
| Davidroid | 0:2887415a46cd | 169 | L6474_OCD_TH_5250mA = ((uint8_t) 0x0D), |
| Davidroid | 0:2887415a46cd | 170 | L6474_OCD_TH_5625mA = ((uint8_t) 0x0E), |
| Davidroid | 0:2887415a46cd | 171 | L6474_OCD_TH_6000mA = ((uint8_t) 0x0F) |
| Davidroid | 0:2887415a46cd | 172 | } L6474_OCD_TH_t; |
| Davidroid | 0:2887415a46cd | 173 | /** |
| Davidroid | 0:2887415a46cd | 174 | * @} |
| Davidroid | 0:2887415a46cd | 175 | */ |
| Davidroid | 0:2887415a46cd | 176 | |
| Davidroid | 0:2887415a46cd | 177 | /** @defgroup L6474_STEP_MODE_Register_Masks |
| Davidroid | 0:2887415a46cd | 178 | * @{ |
| Davidroid | 0:2887415a46cd | 179 | */ |
| Davidroid | 0:2887415a46cd | 180 | ///STEP_MODE register |
| Davidroid | 0:2887415a46cd | 181 | typedef enum { |
| Davidroid | 0:2887415a46cd | 182 | L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07), |
| Davidroid | 0:2887415a46cd | 183 | L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70) |
| Davidroid | 0:2887415a46cd | 184 | } L6474_STEP_MODE_Masks_t; |
| Davidroid | 0:2887415a46cd | 185 | /** |
| Davidroid | 0:2887415a46cd | 186 | * @} |
| Davidroid | 0:2887415a46cd | 187 | */ |
| Davidroid | 0:2887415a46cd | 188 | |
| Davidroid | 0:2887415a46cd | 189 | /** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register |
| Davidroid | 0:2887415a46cd | 190 | * @{ |
| Davidroid | 0:2887415a46cd | 191 | */ |
| Davidroid | 0:2887415a46cd | 192 | ///STEP_SEL field of STEP_MODE register |
| Davidroid | 0:2887415a46cd | 193 | typedef enum { |
| Davidroid | 0:2887415a46cd | 194 | L6474_STEP_SEL_1 = ((uint8_t) 0x08), //full step |
| Davidroid | 0:2887415a46cd | 195 | L6474_STEP_SEL_1_2 = ((uint8_t) 0x09), //half step |
| Davidroid | 0:2887415a46cd | 196 | L6474_STEP_SEL_1_4 = ((uint8_t) 0x0A), //1/4 microstep |
| Davidroid | 0:2887415a46cd | 197 | L6474_STEP_SEL_1_8 = ((uint8_t) 0x0B), //1/8 microstep |
| Davidroid | 0:2887415a46cd | 198 | L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C) //1/16 microstep |
| Davidroid | 0:2887415a46cd | 199 | } L6474_STEP_SEL_t; |
| Davidroid | 0:2887415a46cd | 200 | /** |
| Davidroid | 0:2887415a46cd | 201 | * @} |
| Davidroid | 0:2887415a46cd | 202 | */ |
| Davidroid | 0:2887415a46cd | 203 | |
| Davidroid | 0:2887415a46cd | 204 | /** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register |
| Davidroid | 0:2887415a46cd | 205 | * @{ |
| Davidroid | 0:2887415a46cd | 206 | */ |
| Davidroid | 0:2887415a46cd | 207 | ///SYNC_SEL field of STEP_MODE register |
| Davidroid | 0:2887415a46cd | 208 | typedef enum { |
| Davidroid | 0:2887415a46cd | 209 | L6474_SYNC_SEL_1_2 = ((uint8_t) 0x80), |
| Davidroid | 0:2887415a46cd | 210 | L6474_SYNC_SEL_1 = ((uint8_t) 0x90), |
| Davidroid | 0:2887415a46cd | 211 | L6474_SYNC_SEL_2 = ((uint8_t) 0xA0), |
| Davidroid | 0:2887415a46cd | 212 | L6474_SYNC_SEL_4 = ((uint8_t) 0xB0), |
| Davidroid | 0:2887415a46cd | 213 | L6474_SYNC_SEL_8 = ((uint8_t) 0xC0), |
| Davidroid | 0:2887415a46cd | 214 | L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0) |
| Davidroid | 0:2887415a46cd | 215 | } L6474_SYNC_SEL_t; |
| Davidroid | 0:2887415a46cd | 216 | /** |
| Davidroid | 0:2887415a46cd | 217 | * @} |
| Davidroid | 0:2887415a46cd | 218 | */ |
| Davidroid | 0:2887415a46cd | 219 | |
| Davidroid | 0:2887415a46cd | 220 | /** @defgroup L6474_ALARM_EN_Register_Options |
| Davidroid | 0:2887415a46cd | 221 | * @{ |
| Davidroid | 0:2887415a46cd | 222 | */ |
| Davidroid | 0:2887415a46cd | 223 | ///ALARM_EN register |
| Davidroid | 0:2887415a46cd | 224 | typedef enum { |
| Davidroid | 0:2887415a46cd | 225 | L6474_ALARM_EN_OVERCURRENT = ((uint8_t) 0x01), |
| Davidroid | 0:2887415a46cd | 226 | L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02), |
| Davidroid | 0:2887415a46cd | 227 | L6474_ALARM_EN_THERMAL_WARNING = ((uint8_t) 0x04), |
| Davidroid | 0:2887415a46cd | 228 | L6474_ALARM_EN_UNDERVOLTAGE = ((uint8_t) 0x08), |
| Davidroid | 0:2887415a46cd | 229 | L6474_ALARM_EN_SW_TURN_ON = ((uint8_t) 0x40), |
| Davidroid | 0:2887415a46cd | 230 | L6474_ALARM_EN_WRONG_NPERF_CMD = ((uint8_t) 0x80) |
| Davidroid | 0:2887415a46cd | 231 | } L6474_ALARM_EN_t; |
| Davidroid | 0:2887415a46cd | 232 | /** |
| Davidroid | 0:2887415a46cd | 233 | * @} |
| Davidroid | 0:2887415a46cd | 234 | */ |
| Davidroid | 0:2887415a46cd | 235 | |
| Davidroid | 0:2887415a46cd | 236 | /** @defgroup L6474_CONFIG_Register_Masks |
| Davidroid | 0:2887415a46cd | 237 | * @{ |
| Davidroid | 0:2887415a46cd | 238 | */ |
| Davidroid | 0:2887415a46cd | 239 | ///CONFIG register |
| Davidroid | 0:2887415a46cd | 240 | typedef enum { |
| Davidroid | 0:2887415a46cd | 241 | L6474_CONFIG_OSC_SEL = ((uint16_t) 0x0007), |
| Davidroid | 0:2887415a46cd | 242 | L6474_CONFIG_EXT_CLK = ((uint16_t) 0x0008), |
| Davidroid | 0:2887415a46cd | 243 | L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020), |
| Davidroid | 0:2887415a46cd | 244 | L6474_CONFIG_OC_SD = ((uint16_t) 0x0080), |
| Davidroid | 0:2887415a46cd | 245 | L6474_CONFIG_POW_SR = ((uint16_t) 0x0300), |
| Davidroid | 0:2887415a46cd | 246 | L6474_CONFIG_TOFF = ((uint16_t) 0x7C00) |
| Davidroid | 0:2887415a46cd | 247 | } L6474_CONFIG_Masks_t; |
| Davidroid | 0:2887415a46cd | 248 | /** |
| Davidroid | 0:2887415a46cd | 249 | * @} |
| Davidroid | 0:2887415a46cd | 250 | */ |
| Davidroid | 0:2887415a46cd | 251 | |
| Davidroid | 0:2887415a46cd | 252 | /** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register |
| Davidroid | 0:2887415a46cd | 253 | * @{ |
| Davidroid | 0:2887415a46cd | 254 | */ |
| Davidroid | 0:2887415a46cd | 255 | ///Clock source option for CONFIG register |
| Davidroid | 0:2887415a46cd | 256 | typedef enum { |
| Davidroid | 0:2887415a46cd | 257 | L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000), |
| Davidroid | 0:2887415a46cd | 258 | L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ = ((uint16_t) 0x0008), |
| Davidroid | 0:2887415a46cd | 259 | L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ = ((uint16_t) 0x0009), |
| Davidroid | 0:2887415a46cd | 260 | L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ = ((uint16_t) 0x000A), |
| Davidroid | 0:2887415a46cd | 261 | L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ = ((uint16_t) 0x000B), |
| Davidroid | 0:2887415a46cd | 262 | L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE = ((uint16_t) 0x0004), |
| Davidroid | 0:2887415a46cd | 263 | L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE = ((uint16_t) 0x0005), |
| Davidroid | 0:2887415a46cd | 264 | L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE = ((uint16_t) 0x0006), |
| Davidroid | 0:2887415a46cd | 265 | L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE = ((uint16_t) 0x0007), |
| Davidroid | 0:2887415a46cd | 266 | L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT = ((uint16_t) 0x000C), |
| Davidroid | 0:2887415a46cd | 267 | L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D), |
| Davidroid | 0:2887415a46cd | 268 | L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E), |
| Davidroid | 0:2887415a46cd | 269 | L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F) |
| Davidroid | 0:2887415a46cd | 270 | } L6474_CONFIG_OSC_MGMT_t; |
| Davidroid | 0:2887415a46cd | 271 | /** |
| Davidroid | 0:2887415a46cd | 272 | * @} |
| Davidroid | 0:2887415a46cd | 273 | */ |
| Davidroid | 0:2887415a46cd | 274 | |
| Davidroid | 0:2887415a46cd | 275 | /** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register |
| Davidroid | 0:2887415a46cd | 276 | * @{ |
| Davidroid | 0:2887415a46cd | 277 | */ |
| Davidroid | 0:2887415a46cd | 278 | ///External Torque regulation options for CONFIG register |
| Davidroid | 0:2887415a46cd | 279 | typedef enum { |
| Davidroid | 0:2887415a46cd | 280 | L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000), |
| Davidroid | 0:2887415a46cd | 281 | L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020) |
| Davidroid | 0:2887415a46cd | 282 | } L6474_CONFIG_EN_TQREG_t; |
| Davidroid | 0:2887415a46cd | 283 | /** |
| Davidroid | 0:2887415a46cd | 284 | * @} |
| Davidroid | 0:2887415a46cd | 285 | */ |
| Davidroid | 0:2887415a46cd | 286 | |
| Davidroid | 0:2887415a46cd | 287 | /** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register |
| Davidroid | 0:2887415a46cd | 288 | * @{ |
| Davidroid | 0:2887415a46cd | 289 | */ |
| Davidroid | 0:2887415a46cd | 290 | ///Over Current Shutdown options for CONFIG register |
| Davidroid | 0:2887415a46cd | 291 | typedef enum { |
| Davidroid | 0:2887415a46cd | 292 | L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000), |
| Davidroid | 0:2887415a46cd | 293 | L6474_CONFIG_OC_SD_ENABLE = ((uint16_t) 0x0080) |
| Davidroid | 0:2887415a46cd | 294 | } L6474_CONFIG_OC_SD_t; |
| Davidroid | 0:2887415a46cd | 295 | /** |
| Davidroid | 0:2887415a46cd | 296 | * @} |
| Davidroid | 0:2887415a46cd | 297 | */ |
| Davidroid | 0:2887415a46cd | 298 | |
| Davidroid | 0:2887415a46cd | 299 | /** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options |
| Davidroid | 0:2887415a46cd | 300 | * @{ |
| Davidroid | 0:2887415a46cd | 301 | */ |
| Davidroid | 0:2887415a46cd | 302 | /// POW_SR values for CONFIG register |
| Davidroid | 0:2887415a46cd | 303 | typedef enum { |
| Davidroid | 0:2887415a46cd | 304 | L6474_CONFIG_SR_320V_us =((uint16_t)0x0000), |
| Davidroid | 0:2887415a46cd | 305 | L6474_CONFIG_SR_075V_us =((uint16_t)0x0100), |
| Davidroid | 0:2887415a46cd | 306 | L6474_CONFIG_SR_110V_us =((uint16_t)0x0200), |
| Davidroid | 0:2887415a46cd | 307 | L6474_CONFIG_SR_260V_us =((uint16_t)0x0300) |
| Davidroid | 0:2887415a46cd | 308 | } L6474_CONFIG_POW_SR_t; |
| Davidroid | 0:2887415a46cd | 309 | /** |
| Davidroid | 0:2887415a46cd | 310 | * @} |
| Davidroid | 0:2887415a46cd | 311 | */ |
| Davidroid | 0:2887415a46cd | 312 | |
| Davidroid | 0:2887415a46cd | 313 | /** @defgroup L6474_Off_Time_Options |
| Davidroid | 0:2887415a46cd | 314 | * @{ |
| Davidroid | 0:2887415a46cd | 315 | */ |
| Davidroid | 0:2887415a46cd | 316 | /// TOFF values for CONFIG register |
| Davidroid | 0:2887415a46cd | 317 | typedef enum { |
| Davidroid | 0:2887415a46cd | 318 | L6474_CONFIG_TOFF_004us = (((uint16_t) 0x01) << 10), |
| Davidroid | 0:2887415a46cd | 319 | L6474_CONFIG_TOFF_008us = (((uint16_t) 0x02) << 10), |
| Davidroid | 0:2887415a46cd | 320 | L6474_CONFIG_TOFF_012us = (((uint16_t) 0x03) << 10), |
| Davidroid | 0:2887415a46cd | 321 | L6474_CONFIG_TOFF_016us = (((uint16_t) 0x04) << 10), |
| Davidroid | 0:2887415a46cd | 322 | L6474_CONFIG_TOFF_020us = (((uint16_t) 0x05) << 10), |
| Davidroid | 0:2887415a46cd | 323 | L6474_CONFIG_TOFF_024us = (((uint16_t) 0x06) << 10), |
| Davidroid | 0:2887415a46cd | 324 | L6474_CONFIG_TOFF_028us = (((uint16_t) 0x07) << 10), |
| Davidroid | 0:2887415a46cd | 325 | L6474_CONFIG_TOFF_032us = (((uint16_t) 0x08) << 10), |
| Davidroid | 0:2887415a46cd | 326 | L6474_CONFIG_TOFF_036us = (((uint16_t) 0x09) << 10), |
| Davidroid | 0:2887415a46cd | 327 | L6474_CONFIG_TOFF_040us = (((uint16_t) 0x0A) << 10), |
| Davidroid | 0:2887415a46cd | 328 | L6474_CONFIG_TOFF_044us = (((uint16_t) 0x0B) << 10), |
| Davidroid | 0:2887415a46cd | 329 | L6474_CONFIG_TOFF_048us = (((uint16_t) 0x0C) << 10), |
| Davidroid | 0:2887415a46cd | 330 | L6474_CONFIG_TOFF_052us = (((uint16_t) 0x0D) << 10), |
| Davidroid | 0:2887415a46cd | 331 | L6474_CONFIG_TOFF_056us = (((uint16_t) 0x0E) << 10), |
| Davidroid | 0:2887415a46cd | 332 | L6474_CONFIG_TOFF_060us = (((uint16_t) 0x0F) << 10), |
| Davidroid | 0:2887415a46cd | 333 | L6474_CONFIG_TOFF_064us = (((uint16_t) 0x10) << 10), |
| Davidroid | 0:2887415a46cd | 334 | L6474_CONFIG_TOFF_068us = (((uint16_t) 0x11) << 10), |
| Davidroid | 0:2887415a46cd | 335 | L6474_CONFIG_TOFF_072us = (((uint16_t) 0x12) << 10), |
| Davidroid | 0:2887415a46cd | 336 | L6474_CONFIG_TOFF_076us = (((uint16_t) 0x13) << 10), |
| Davidroid | 0:2887415a46cd | 337 | L6474_CONFIG_TOFF_080us = (((uint16_t) 0x14) << 10), |
| Davidroid | 0:2887415a46cd | 338 | L6474_CONFIG_TOFF_084us = (((uint16_t) 0x15) << 10), |
| Davidroid | 0:2887415a46cd | 339 | L6474_CONFIG_TOFF_088us = (((uint16_t) 0x16) << 10), |
| Davidroid | 0:2887415a46cd | 340 | L6474_CONFIG_TOFF_092us = (((uint16_t) 0x17) << 10), |
| Davidroid | 0:2887415a46cd | 341 | L6474_CONFIG_TOFF_096us = (((uint16_t) 0x18) << 10), |
| Davidroid | 0:2887415a46cd | 342 | L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10), |
| Davidroid | 0:2887415a46cd | 343 | L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10), |
| Davidroid | 0:2887415a46cd | 344 | L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10), |
| Davidroid | 0:2887415a46cd | 345 | L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10), |
| Davidroid | 0:2887415a46cd | 346 | L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10), |
| Davidroid | 0:2887415a46cd | 347 | L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10), |
| Davidroid | 0:2887415a46cd | 348 | L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10) |
| Davidroid | 0:2887415a46cd | 349 | } L6474_CONFIG_TOFF_t; |
| Davidroid | 0:2887415a46cd | 350 | /** |
| Davidroid | 0:2887415a46cd | 351 | * @} |
| Davidroid | 0:2887415a46cd | 352 | */ |
| Davidroid | 0:2887415a46cd | 353 | |
| Davidroid | 0:2887415a46cd | 354 | /** @defgroup L6474_STATUS_Register_Bit_Masks |
| Davidroid | 0:2887415a46cd | 355 | * @{ |
| Davidroid | 0:2887415a46cd | 356 | */ |
| Davidroid | 0:2887415a46cd | 357 | ///STATUS Register Bit Masks |
| Davidroid | 0:2887415a46cd | 358 | typedef enum { |
| Davidroid | 0:2887415a46cd | 359 | L6474_STATUS_HIZ = (((uint16_t) 0x0001)), |
| Davidroid | 0:2887415a46cd | 360 | L6474_STATUS_DIR = (((uint16_t) 0x0010)), |
| Davidroid | 0:2887415a46cd | 361 | L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)), |
| Davidroid | 0:2887415a46cd | 362 | L6474_STATUS_WRONG_CMD = (((uint16_t) 0x0100)), |
| Davidroid | 0:2887415a46cd | 363 | L6474_STATUS_UVLO = (((uint16_t) 0x0200)), |
| Davidroid | 0:2887415a46cd | 364 | L6474_STATUS_TH_WRN = (((uint16_t) 0x0400)), |
| Davidroid | 0:2887415a46cd | 365 | L6474_STATUS_TH_SD = (((uint16_t) 0x0800)), |
| Davidroid | 0:2887415a46cd | 366 | L6474_STATUS_OCD = (((uint16_t) 0x1000)) |
| Davidroid | 0:2887415a46cd | 367 | } L6474_STATUS_Masks_t; |
| Davidroid | 0:2887415a46cd | 368 | /** |
| Davidroid | 0:2887415a46cd | 369 | * @} |
| Davidroid | 0:2887415a46cd | 370 | */ |
| Davidroid | 0:2887415a46cd | 371 | |
| Davidroid | 0:2887415a46cd | 372 | /** @defgroup L6474_Direction_Field_Of_STATUS_Register |
| Davidroid | 0:2887415a46cd | 373 | * @{ |
| Davidroid | 0:2887415a46cd | 374 | */ |
| Davidroid | 0:2887415a46cd | 375 | ///Diretion field of STATUS register |
| Davidroid | 0:2887415a46cd | 376 | typedef enum { |
| Davidroid | 0:2887415a46cd | 377 | L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4), |
| Davidroid | 0:2887415a46cd | 378 | L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4) |
| Davidroid | 0:2887415a46cd | 379 | } L6474_STATUS_DIR_t; |
| Davidroid | 0:2887415a46cd | 380 | /** |
| Davidroid | 0:2887415a46cd | 381 | * @} |
| Davidroid | 0:2887415a46cd | 382 | */ |
| Davidroid | 0:2887415a46cd | 383 | |
| Davidroid | 0:2887415a46cd | 384 | /** @defgroup L6474_Internal_Register_Addresses |
| Davidroid | 0:2887415a46cd | 385 | * @{ |
| Davidroid | 0:2887415a46cd | 386 | */ |
| Davidroid | 0:2887415a46cd | 387 | /// Internal L6474 register addresses |
| Davidroid | 0:2887415a46cd | 388 | typedef enum { |
| Davidroid | 0:2887415a46cd | 389 | L6474_ABS_POS = ((uint8_t) 0x01), |
| Davidroid | 0:2887415a46cd | 390 | L6474_EL_POS = ((uint8_t) 0x02), |
| Davidroid | 0:2887415a46cd | 391 | L6474_MARK = ((uint8_t) 0x03), |
| Davidroid | 0:2887415a46cd | 392 | L6474_RESERVED_REG01 = ((uint8_t) 0x04), |
| Davidroid | 0:2887415a46cd | 393 | L6474_RESERVED_REG02 = ((uint8_t) 0x05), |
| Davidroid | 0:2887415a46cd | 394 | L6474_RESERVED_REG03 = ((uint8_t) 0x06), |
| Davidroid | 0:2887415a46cd | 395 | L6474_RESERVED_REG04 = ((uint8_t) 0x07), |
| Davidroid | 0:2887415a46cd | 396 | L6474_RESERVED_REG05 = ((uint8_t) 0x08), |
| Davidroid | 0:2887415a46cd | 397 | L6474_RESERVED_REG06 = ((uint8_t) 0x15), |
| Davidroid | 0:2887415a46cd | 398 | L6474_TVAL = ((uint8_t) 0x09), |
| Davidroid | 0:2887415a46cd | 399 | L6474_RESERVED_REG07 = ((uint8_t) 0x0A), |
| Davidroid | 0:2887415a46cd | 400 | L6474_RESERVED_REG08 = ((uint8_t) 0x0B), |
| Davidroid | 0:2887415a46cd | 401 | L6474_RESERVED_REG09 = ((uint8_t) 0x0C), |
| Davidroid | 0:2887415a46cd | 402 | L6474_RESERVED_REG10 = ((uint8_t) 0x0D), |
| Davidroid | 0:2887415a46cd | 403 | L6474_T_FAST = ((uint8_t) 0x0E), |
| Davidroid | 0:2887415a46cd | 404 | L6474_TON_MIN = ((uint8_t) 0x0F), |
| Davidroid | 0:2887415a46cd | 405 | L6474_TOFF_MIN = ((uint8_t) 0x10), |
| Davidroid | 0:2887415a46cd | 406 | L6474_RESERVED_REG11 = ((uint8_t) 0x11), |
| Davidroid | 0:2887415a46cd | 407 | L6474_ADC_OUT = ((uint8_t) 0x12), |
| Davidroid | 0:2887415a46cd | 408 | L6474_OCD_TH = ((uint8_t) 0x13), |
| Davidroid | 0:2887415a46cd | 409 | L6474_RESERVED_REG12 = ((uint8_t) 0x14), |
| Davidroid | 0:2887415a46cd | 410 | L6474_STEP_MODE = ((uint8_t) 0x16), |
| Davidroid | 0:2887415a46cd | 411 | L6474_ALARM_EN = ((uint8_t) 0x17), |
| Davidroid | 0:2887415a46cd | 412 | L6474_CONFIG = ((uint8_t) 0x18), |
| Davidroid | 0:2887415a46cd | 413 | L6474_STATUS = ((uint8_t) 0x19), |
| Davidroid | 0:2887415a46cd | 414 | L6474_RESERVED_REG13 = ((uint8_t) 0x1A), |
| Davidroid | 0:2887415a46cd | 415 | L6474_RESERVED_REG14 = ((uint8_t) 0x1B), |
| Davidroid | 0:2887415a46cd | 416 | L6474_INEXISTENT_REG = ((uint8_t) 0x1F) |
| Davidroid | 0:2887415a46cd | 417 | } L6474_Registers_t; |
| Davidroid | 0:2887415a46cd | 418 | /** |
| Davidroid | 0:2887415a46cd | 419 | * @} |
| Davidroid | 0:2887415a46cd | 420 | */ |
| Davidroid | 0:2887415a46cd | 421 | |
| Davidroid | 0:2887415a46cd | 422 | /** @defgroup L6474_Command_Set |
| Davidroid | 0:2887415a46cd | 423 | * @{ |
| Davidroid | 0:2887415a46cd | 424 | */ |
| Davidroid | 0:2887415a46cd | 425 | /// L6474 command set |
| Davidroid | 0:2887415a46cd | 426 | typedef enum { |
| Davidroid | 0:2887415a46cd | 427 | L6474_NOP = ((uint8_t) 0x00), |
| Davidroid | 0:2887415a46cd | 428 | L6474_SET_PARAM = ((uint8_t) 0x00), |
| Davidroid | 0:2887415a46cd | 429 | L6474_GET_PARAM = ((uint8_t) 0x20), |
| Davidroid | 0:2887415a46cd | 430 | L6474_ENABLE = ((uint8_t) 0xB8), |
| Davidroid | 0:2887415a46cd | 431 | L6474_DISABLE = ((uint8_t) 0xA8), |
| Davidroid | 0:2887415a46cd | 432 | L6474_GET_STATUS = ((uint8_t) 0xD0), |
| Davidroid | 0:2887415a46cd | 433 | L6474_RESERVED_CMD1 = ((uint8_t) 0xEB), |
| Davidroid | 0:2887415a46cd | 434 | L6474_RESERVED_CMD2 = ((uint8_t) 0xF8) |
| Davidroid | 0:2887415a46cd | 435 | } L6474_Commands_t; |
| Davidroid | 0:2887415a46cd | 436 | |
| Davidroid | 22:ed3a6990a6eb | 437 | /** |
| Davidroid | 22:ed3a6990a6eb | 438 | * @brief L6474 driver initialization structure definition. |
| Davidroid | 22:ed3a6990a6eb | 439 | */ |
| Davidroid | 22:ed3a6990a6eb | 440 | /* ACTION --------------------------------------------------------------------* |
| Davidroid | 22:ed3a6990a6eb | 441 | * Declare here the component's initialization structure, if any, one * |
| Davidroid | 22:ed3a6990a6eb | 442 | * variable per line without initialization. * |
| Davidroid | 22:ed3a6990a6eb | 443 | * * |
| Davidroid | 22:ed3a6990a6eb | 444 | * Example: * |
| Davidroid | 22:ed3a6990a6eb | 445 | * typedef struct * |
| Davidroid | 22:ed3a6990a6eb | 446 | * { * |
| Davidroid | 22:ed3a6990a6eb | 447 | * int frequency; * |
| Davidroid | 22:ed3a6990a6eb | 448 | * int update_mode; * |
| Davidroid | 22:ed3a6990a6eb | 449 | * } COMPONENT_Init_t; * |
| Davidroid | 22:ed3a6990a6eb | 450 | *----------------------------------------------------------------------------*/ |
| Davidroid | 18:2d6ab2b93685 | 451 | typedef struct |
| Davidroid | 18:2d6ab2b93685 | 452 | { |
| Davidroid | 22:ed3a6990a6eb | 453 | /* Acceleration rate in step/s2. Range: (0..+inf). */ |
| Davidroid | 22:ed3a6990a6eb | 454 | int acceleration_step_s2; |
| Davidroid | 18:2d6ab2b93685 | 455 | |
| Davidroid | 22:ed3a6990a6eb | 456 | /* Deceleration rate in step/s2. Range: (0..+inf). */ |
| Davidroid | 22:ed3a6990a6eb | 457 | int deceleration_step_s2; |
| Davidroid | 18:2d6ab2b93685 | 458 | |
| Davidroid | 22:ed3a6990a6eb | 459 | /* Maximum speed in step/s. Range: (30..10000]. */ |
| Davidroid | 22:ed3a6990a6eb | 460 | int maximum_speed_step_s; |
| Davidroid | 18:2d6ab2b93685 | 461 | |
| Davidroid | 22:ed3a6990a6eb | 462 | /* Minimum speed in step/s. Range: [30..10000). */ |
| Davidroid | 22:ed3a6990a6eb | 463 | int minimum_speed_step_s; |
| Davidroid | 18:2d6ab2b93685 | 464 | |
| Davidroid | 22:ed3a6990a6eb | 465 | /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */ |
| Davidroid | 22:ed3a6990a6eb | 466 | float torque_regulation_current_mA; |
| Davidroid | 18:2d6ab2b93685 | 467 | |
| Davidroid | 22:ed3a6990a6eb | 468 | /* Overcurrent threshold (OCD_TH register). */ |
| Davidroid | 22:ed3a6990a6eb | 469 | L6474_OCD_TH_t overcurrent_threshold; |
| Davidroid | 18:2d6ab2b93685 | 470 | |
| Davidroid | 22:ed3a6990a6eb | 471 | /* Overcurrent shutwdown (OC_SD field of CONFIG register). */ |
| Davidroid | 22:ed3a6990a6eb | 472 | L6474_CONFIG_OC_SD_t overcurrent_shutwdown; |
| Davidroid | 18:2d6ab2b93685 | 473 | |
| Davidroid | 22:ed3a6990a6eb | 474 | /* Torque regulation method (EN_TQREG field of CONFIG register). */ |
| Davidroid | 22:ed3a6990a6eb | 475 | L6474_CONFIG_EN_TQREG_t torque_regulation_method; |
| Davidroid | 22:ed3a6990a6eb | 476 | |
| Davidroid | 22:ed3a6990a6eb | 477 | /* Step selection (STEP_SEL field of STEP_MODE register). */ |
| Davidroid | 22:ed3a6990a6eb | 478 | L6474_STEP_SEL_t step_selection; |
| Davidroid | 18:2d6ab2b93685 | 479 | |
| Davidroid | 22:ed3a6990a6eb | 480 | /* Sync selection (SYNC_SEL field of STEP_MODE register). */ |
| Davidroid | 22:ed3a6990a6eb | 481 | L6474_SYNC_SEL_t sync_selection; |
| Davidroid | 18:2d6ab2b93685 | 482 | |
| Davidroid | 22:ed3a6990a6eb | 483 | /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */ |
| Davidroid | 22:ed3a6990a6eb | 484 | L6474_FAST_STEP_t fall_time; |
| Davidroid | 18:2d6ab2b93685 | 485 | |
| Davidroid | 22:ed3a6990a6eb | 486 | /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */ |
| Davidroid | 22:ed3a6990a6eb | 487 | L6474_TOFF_FAST_t maximum_fast_decay_time; |
| Davidroid | 18:2d6ab2b93685 | 488 | |
| Davidroid | 22:ed3a6990a6eb | 489 | /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */ |
| Davidroid | 22:ed3a6990a6eb | 490 | float minimum_ON_time_us; |
| Davidroid | 18:2d6ab2b93685 | 491 | |
| Davidroid | 22:ed3a6990a6eb | 492 | /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */ |
| Davidroid | 22:ed3a6990a6eb | 493 | float minimum_OFF_time_us; |
| Davidroid | 18:2d6ab2b93685 | 494 | |
| Davidroid | 22:ed3a6990a6eb | 495 | /* Target Swicthing Period (field TOFF of CONFIG register). */ |
| Davidroid | 22:ed3a6990a6eb | 496 | L6474_CONFIG_TOFF_t target_swicthing_period; |
| Davidroid | 18:2d6ab2b93685 | 497 | |
| Davidroid | 22:ed3a6990a6eb | 498 | /* Slew rate (POW_SR field of CONFIG register). */ |
| Davidroid | 22:ed3a6990a6eb | 499 | L6474_CONFIG_POW_SR_t slew_rate; |
| Davidroid | 18:2d6ab2b93685 | 500 | |
| Davidroid | 22:ed3a6990a6eb | 501 | /* Clock setting (OSC_CLK_SEL field of CONFIG register). */ |
| Davidroid | 22:ed3a6990a6eb | 502 | L6474_CONFIG_OSC_MGMT_t clock; |
| Davidroid | 22:ed3a6990a6eb | 503 | |
| Davidroid | 22:ed3a6990a6eb | 504 | /* Alarm (ALARM_EN register). */ |
| Davidroid | 22:ed3a6990a6eb | 505 | int alarm; |
| Davidroid | 22:ed3a6990a6eb | 506 | } L6474_Init_t; |
| Davidroid | 18:2d6ab2b93685 | 507 | |
| Davidroid | 0:2887415a46cd | 508 | /** |
| Davidroid | 22:ed3a6990a6eb | 509 | * @brief L6474 driver data structure definition. |
| Davidroid | 22:ed3a6990a6eb | 510 | */ |
| Davidroid | 22:ed3a6990a6eb | 511 | /* ACTION --------------------------------------------------------------------* |
| Davidroid | 22:ed3a6990a6eb | 512 | * Declare here the structure of component's data, if any, one variable per * |
| Davidroid | 22:ed3a6990a6eb | 513 | * line without initialization. * |
| Davidroid | 22:ed3a6990a6eb | 514 | * * |
| Davidroid | 22:ed3a6990a6eb | 515 | * Example: * |
| Davidroid | 22:ed3a6990a6eb | 516 | * typedef struct * |
| Davidroid | 22:ed3a6990a6eb | 517 | * { * |
| Davidroid | 22:ed3a6990a6eb | 518 | * int T0_out; * |
| Davidroid | 22:ed3a6990a6eb | 519 | * int T1_out; * |
| Davidroid | 22:ed3a6990a6eb | 520 | * float T0_degC; * |
| Davidroid | 22:ed3a6990a6eb | 521 | * float T1_degC; * |
| Davidroid | 22:ed3a6990a6eb | 522 | * } COMPONENT_Data_t; * |
| Davidroid | 22:ed3a6990a6eb | 523 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 524 | typedef struct |
| Davidroid | 0:2887415a46cd | 525 | { |
| Davidroid | 0:2887415a46cd | 526 | /// Function pointer to flag interrupt call back |
| Davidroid | 0:2887415a46cd | 527 | void (*flagInterruptCallback)(void); |
| Davidroid | 0:2887415a46cd | 528 | /// Function pointer to error handler call back |
| Davidroid | 0:2887415a46cd | 529 | void (*errorHandlerCallback)(uint16_t error); |
| Davidroid | 0:2887415a46cd | 530 | bool spiPreemtionByIsr; // = FALSE; |
| Davidroid | 0:2887415a46cd | 531 | bool isrFlag; // = FALSE; |
| Davidroid | 0:2887415a46cd | 532 | /// L6474 Device Paramaters structure |
| Davidroid | 0:2887415a46cd | 533 | deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 18:2d6ab2b93685 | 534 | uint8_t number_of_devices; |
| Davidroid | 18:2d6ab2b93685 | 535 | uint8_t device_instance; |
| Davidroid | 5:d3c78f12a78d | 536 | uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 5:d3c78f12a78d | 537 | uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES]; |
| Davidroid | 22:ed3a6990a6eb | 538 | } L6474_Data_t; |
| Davidroid | 0:2887415a46cd | 539 | |
| Davidroid | 0:2887415a46cd | 540 | |
| Davidroid | 22:ed3a6990a6eb | 541 | /* Functions -----------------------------------------------------------------*/ |
| Davidroid | 22:ed3a6990a6eb | 542 | |
| Davidroid | 22:ed3a6990a6eb | 543 | /** @addtogroup BSP |
| Davidroid | 22:ed3a6990a6eb | 544 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 545 | */ |
| Davidroid | 0:2887415a46cd | 546 | |
| Davidroid | 22:ed3a6990a6eb | 547 | /** @addtogroup Components |
| Davidroid | 22:ed3a6990a6eb | 548 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 549 | */ |
| Davidroid | 22:ed3a6990a6eb | 550 | |
| Davidroid | 22:ed3a6990a6eb | 551 | /** @addtogroup L6474 |
| Davidroid | 22:ed3a6990a6eb | 552 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 553 | */ |
| Davidroid | 22:ed3a6990a6eb | 554 | |
| Davidroid | 22:ed3a6990a6eb | 555 | /** @defgroup L6474_Imported_Functions L6474_Imported_Functions |
| Davidroid | 22:ed3a6990a6eb | 556 | * @{ |
| Davidroid | 22:ed3a6990a6eb | 557 | */ |
| Davidroid | 0:2887415a46cd | 558 | |
| Davidroid | 0:2887415a46cd | 559 | /* ACTION --------------------------------------------------------------------* |
| Davidroid | 23:58264db10a17 | 560 | * Declare here extern platform-dependent APIs you might need (e.g.: I/O and * |
| Davidroid | 23:58264db10a17 | 561 | * interrupt related functions), and implement them in a glue-logic file on * |
| Davidroid | 23:58264db10a17 | 562 | * the target environment, for example within the "x_nucleo_board.c" file. * |
| Davidroid | 23:58264db10a17 | 563 | * E.g.: * |
| Davidroid | 22:ed3a6990a6eb | 564 | * extern Status_t COMPONENT_IO_Init (void *handle); * |
| Davidroid | 22:ed3a6990a6eb | 565 | * extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); * |
| Davidroid | 22:ed3a6990a6eb | 566 | * extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); * |
| Davidroid | 22:ed3a6990a6eb | 567 | * extern void COMPONENT_IO_ITConfig(void); * |
| Davidroid | 0:2887415a46cd | 568 | *----------------------------------------------------------------------------*/ |
| Davidroid | 0:2887415a46cd | 569 | ///Delay of the requested number of milliseconds |
| Davidroid | 0:2887415a46cd | 570 | extern void L6474_Delay(void *handle, uint32_t delay); |
| Davidroid | 0:2887415a46cd | 571 | ///Enable Irq |
| Davidroid | 0:2887415a46cd | 572 | extern void L6474_EnableIrq(void *handle); |
| Davidroid | 0:2887415a46cd | 573 | ///Disable Irq |
| Davidroid | 0:2887415a46cd | 574 | extern void L6474_DisableIrq(void *handle); |
| Davidroid | 0:2887415a46cd | 575 | ///Set PWM1 frequency and start it |
| Davidroid | 0:2887415a46cd | 576 | extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq); |
| Davidroid | 0:2887415a46cd | 577 | ///Set PWM2 frequency and start it |
| Davidroid | 0:2887415a46cd | 578 | extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq); |
| Davidroid | 0:2887415a46cd | 579 | ///Set PWM3 frequency and start it |
| Davidroid | 0:2887415a46cd | 580 | extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq); |
| Davidroid | 0:2887415a46cd | 581 | ///Init the PWM |
| Davidroid | 0:2887415a46cd | 582 | extern void L6474_PwmInit(void *handle); |
| Davidroid | 0:2887415a46cd | 583 | ///Stop the PWM |
| Davidroid | 0:2887415a46cd | 584 | extern void L6474_PwmStop(void *handle); |
| Davidroid | 0:2887415a46cd | 585 | ///Reset the L6474 reset pin |
| Davidroid | 0:2887415a46cd | 586 | extern void L6474_ReleaseReset(void *handle); |
| Davidroid | 0:2887415a46cd | 587 | ///Set the L6474 reset pin |
| Davidroid | 0:2887415a46cd | 588 | extern void L6474_Reset(void *handle); |
| Davidroid | 0:2887415a46cd | 589 | ///Set direction GPIO |
| Davidroid | 0:2887415a46cd | 590 | extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState); |
| Davidroid | 0:2887415a46cd | 591 | ///Write bytes to the L6474s via SPI |
| Davidroid | 0:2887415a46cd | 592 | extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte); |
| Davidroid | 0:2887415a46cd | 593 | |
| Davidroid | 0:2887415a46cd | 594 | #ifdef __cplusplus |
| Davidroid | 0:2887415a46cd | 595 | } |
| Davidroid | 0:2887415a46cd | 596 | #endif |
| Davidroid | 0:2887415a46cd | 597 | |
| Davidroid | 0:2887415a46cd | 598 | #endif /* #ifndef __L6474_H */ |
| Davidroid | 0:2887415a46cd | 599 | |
| Davidroid | 0:2887415a46cd | 600 | /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ |