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 
00040 /* Define to prevent recursive inclusion -------------------------------------*/
00041 
00042 #ifndef __L6474_H
00043 #define __L6474_H
00044 
00045 #ifdef __cplusplus
00046  extern "C" {
00047 #endif 
00048 
00049 
00050 /* Includes ------------------------------------------------------------------*/
00051 
00052 #include "l6474_target_config.h"
00053 #include "../Common/motor.h"
00054 
00055 
00056 /* Definitions ---------------------------------------------------------------*/
00057 
00058 /** @addtogroup BSP
00059  * @{
00060  */
00061 
00062 /** @addtogroup Components
00063  * @{
00064  */  
00065   
00066 /** @addtogroup L6474
00067  * @{
00068  */
00069   
00070 /** @defgroup L6474_Exported_Defines L6474_Exported_Defines
00071  * @{
00072  */  
00073 
00074 /// Current FW version
00075 #define L6474_FW_VERSION                        (5)
00076 
00077 /// L6474 max number of bytes of command & arguments to set a parameter
00078 #define L6474_CMD_ARG_MAX_NB_BYTES              (4)
00079 
00080 /// L6474 command + argument bytes number for GET_STATUS command
00081 #define L6474_CMD_ARG_NB_BYTES_GET_STATUS       (1)
00082 
00083 /// L6474 response bytes number
00084 #define L6474_RSP_NB_BYTES_GET_STATUS           (2)
00085 
00086 /// L6474 value mask for ABS_POS register
00087 #define L6474_ABS_POS_VALUE_MASK    ((uint32_t) 0x003FFFFF)
00088    
00089 /// L6474 sign bit mask for ABS_POS register
00090 #define L6474_ABS_POS_SIGN_BIT_MASK ((uint32_t) 0x00200000)
00091 
00092      
00093 /* Types ---------------------------------------------------------------------*/
00094 
00095 /** @defgroup L6474_Exported_Types
00096   * @{
00097   */   
00098 
00099 /** @defgroup L6474_Fast_Decay_Time_Options  
00100   * @{
00101   */
00102 ///TOFF_FAST values for T_FAST register
00103 typedef enum {
00104   L6474_TOFF_FAST_2us = ((uint8_t) 0x00 << 4),
00105   L6474_TOFF_FAST_4us = ((uint8_t) 0x01 << 4),
00106   L6474_TOFF_FAST_6us = ((uint8_t) 0x02 << 4),
00107   L6474_TOFF_FAST_8us = ((uint8_t) 0x03 << 4),
00108   L6474_TOFF_FAST_10us = ((uint8_t) 0x04 << 4),
00109   L6474_TOFF_FAST_12us = ((uint8_t) 0x05 << 4),
00110   L6474_TOFF_FAST_14us = ((uint8_t) 0x06 << 4),
00111   L6474_TOFF_FAST_16us = ((uint8_t) 0x07 << 4),
00112   L6474_TOFF_FAST_18us = ((uint8_t) 0x08 << 4),
00113   L6474_TOFF_FAST_20us = ((uint8_t) 0x09 << 4),
00114   L6474_TOFF_FAST_22us = ((uint8_t) 0x0A << 4),
00115   L6474_TOFF_FAST_24us = ((uint8_t) 0x0B << 4),
00116   L6474_TOFF_FAST_26us = ((uint8_t) 0x0C << 4),
00117   L6474_TOFF_FAST_28us = ((uint8_t) 0x0D << 4),
00118   L6474_TOFF_FAST_30us = ((uint8_t) 0x0E << 4),
00119   L6474_TOFF_FAST_32us = ((uint8_t) 0x0F << 4)
00120 } L6474_TOFF_FAST_t;
00121 /**
00122   * @}
00123   */
00124 
00125 /** @defgroup L6474_Fall_Step_Time_Options 
00126   * @{
00127   */
00128 ///FAST_STEP values for T_FAST register
00129 typedef enum {
00130   L6474_FAST_STEP_2us = ((uint8_t) 0x00),
00131   L6474_FAST_STEP_4us = ((uint8_t) 0x01),
00132   L6474_FAST_STEP_6us = ((uint8_t) 0x02),
00133   L6474_FAST_STEP_8us = ((uint8_t) 0x03),
00134   L6474_FAST_STEP_10us = ((uint8_t) 0x04),
00135   L6474_FAST_STEP_12us = ((uint8_t) 0x05),
00136   L6474_FAST_STEP_14us = ((uint8_t) 0x06),
00137   L6474_FAST_STEP_16us = ((uint8_t) 0x07),
00138   L6474_FAST_STEP_18us = ((uint8_t) 0x08),
00139   L6474_FAST_STEP_20us = ((uint8_t) 0x09),
00140   L6474_FAST_STEP_22us = ((uint8_t) 0x0A),
00141   L6474_FAST_STEP_24us = ((uint8_t) 0x0B),
00142   L6474_FAST_STEP_26us = ((uint8_t) 0x0C),
00143   L6474_FAST_STEP_28us = ((uint8_t) 0x0D),
00144   L6474_FAST_STEP_30us = ((uint8_t) 0x0E),
00145   L6474_FAST_STEP_32us = ((uint8_t) 0x0F)
00146 } L6474_FAST_STEP_t;
00147 /**
00148   * @}
00149   */
00150 
00151 /** @defgroup L6474_Overcurrent_Threshold_options
00152   * @{
00153   */
00154 ///OCD_TH register
00155 typedef enum {
00156   L6474_OCD_TH_375mA  = ((uint8_t) 0x00),
00157   L6474_OCD_TH_750mA  = ((uint8_t) 0x01),
00158   L6474_OCD_TH_1125mA = ((uint8_t) 0x02),
00159   L6474_OCD_TH_1500mA = ((uint8_t) 0x03),
00160   L6474_OCD_TH_1875mA = ((uint8_t) 0x04),
00161   L6474_OCD_TH_2250mA = ((uint8_t) 0x05),
00162   L6474_OCD_TH_2625mA = ((uint8_t) 0x06),
00163   L6474_OCD_TH_3000mA = ((uint8_t) 0x07),
00164   L6474_OCD_TH_3375mA = ((uint8_t) 0x08),
00165   L6474_OCD_TH_3750mA = ((uint8_t) 0x09),
00166   L6474_OCD_TH_4125mA = ((uint8_t) 0x0A),
00167   L6474_OCD_TH_4500mA = ((uint8_t) 0x0B),
00168   L6474_OCD_TH_4875mA = ((uint8_t) 0x0C),
00169   L6474_OCD_TH_5250mA = ((uint8_t) 0x0D),
00170   L6474_OCD_TH_5625mA = ((uint8_t) 0x0E),
00171   L6474_OCD_TH_6000mA = ((uint8_t) 0x0F)
00172 } L6474_OCD_TH_t;
00173 /**
00174   * @}
00175   */
00176 
00177 /** @defgroup L6474_STEP_MODE_Register_Masks 
00178   * @{
00179   */  
00180 ///STEP_MODE register
00181 typedef enum {
00182   L6474_STEP_MODE_STEP_SEL = ((uint8_t) 0x07),
00183   L6474_STEP_MODE_SYNC_SEL = ((uint8_t) 0x70)
00184 } L6474_STEP_MODE_Masks_t;
00185 /**
00186   * @}
00187   */
00188 
00189 /** @defgroup L6474_STEP_SEL_Options_For_STEP_MODE_Register
00190   * @{
00191   */
00192 ///STEP_SEL field of STEP_MODE register
00193 typedef enum {
00194   L6474_STEP_SEL_1    = ((uint8_t) 0x08),  //full step
00195   L6474_STEP_SEL_1_2  = ((uint8_t) 0x09),  //half step
00196   L6474_STEP_SEL_1_4  = ((uint8_t) 0x0A),  //1/4 microstep
00197   L6474_STEP_SEL_1_8  = ((uint8_t) 0x0B),  //1/8 microstep
00198   L6474_STEP_SEL_1_16 = ((uint8_t) 0x0C)   //1/16 microstep
00199 } L6474_STEP_SEL_t;
00200 /**
00201   * @}
00202   */
00203 
00204 /** @defgroup L6474_SYNC_SEL_Options_For_STEP_MODE_Register 
00205   * @{
00206   */
00207 ///SYNC_SEL field of STEP_MODE register
00208 typedef enum {
00209   L6474_SYNC_SEL_1_2    = ((uint8_t) 0x80),
00210   L6474_SYNC_SEL_1      = ((uint8_t) 0x90),
00211   L6474_SYNC_SEL_2      = ((uint8_t) 0xA0),
00212   L6474_SYNC_SEL_4      = ((uint8_t) 0xB0),
00213   L6474_SYNC_SEL_8      = ((uint8_t) 0xC0),
00214   L6474_SYNC_SEL_UNUSED = ((uint8_t) 0xD0)
00215 } L6474_SYNC_SEL_t;
00216 /**
00217   * @}
00218   */
00219 
00220 /** @defgroup L6474_ALARM_EN_Register_Options
00221   * @{
00222   */
00223 ///ALARM_EN register
00224 typedef enum {
00225   L6474_ALARM_EN_OVERCURRENT      = ((uint8_t) 0x01),
00226   L6474_ALARM_EN_THERMAL_SHUTDOWN = ((uint8_t) 0x02),
00227   L6474_ALARM_EN_THERMAL_WARNING  = ((uint8_t) 0x04),
00228   L6474_ALARM_EN_UNDERVOLTAGE     = ((uint8_t) 0x08),
00229   L6474_ALARM_EN_SW_TURN_ON       = ((uint8_t) 0x40),
00230   L6474_ALARM_EN_WRONG_NPERF_CMD  = ((uint8_t) 0x80)
00231 } L6474_ALARM_EN_t;
00232 /**
00233   * @}
00234   */
00235 
00236 /** @defgroup L6474_CONFIG_Register_Masks
00237   * @{
00238   */
00239 ///CONFIG register
00240 typedef enum {
00241   L6474_CONFIG_OSC_SEL  = ((uint16_t) 0x0007),
00242   L6474_CONFIG_EXT_CLK  = ((uint16_t) 0x0008),
00243   L6474_CONFIG_EN_TQREG = ((uint16_t) 0x0020),
00244   L6474_CONFIG_OC_SD    = ((uint16_t) 0x0080),
00245   L6474_CONFIG_POW_SR   = ((uint16_t) 0x0300),
00246   L6474_CONFIG_TOFF      = ((uint16_t) 0x7C00)
00247 } L6474_CONFIG_Masks_t;
00248 /**
00249   * @}
00250   */
00251 
00252 /** @defgroup L6474_Clock_Source_Options_For_CONFIG_Register
00253   * @{
00254   */
00255 ///Clock source option for CONFIG register
00256 typedef enum {
00257   L6474_CONFIG_INT_16MHZ = ((uint16_t) 0x0000),
00258   L6474_CONFIG_INT_16MHZ_OSCOUT_2MHZ   = ((uint16_t) 0x0008),
00259   L6474_CONFIG_INT_16MHZ_OSCOUT_4MHZ   = ((uint16_t) 0x0009),
00260   L6474_CONFIG_INT_16MHZ_OSCOUT_8MHZ   = ((uint16_t) 0x000A),
00261   L6474_CONFIG_INT_16MHZ_OSCOUT_16MHZ  = ((uint16_t) 0x000B),
00262   L6474_CONFIG_EXT_8MHZ_XTAL_DRIVE     = ((uint16_t) 0x0004),
00263   L6474_CONFIG_EXT_16MHZ_XTAL_DRIVE    = ((uint16_t) 0x0005),
00264   L6474_CONFIG_EXT_24MHZ_XTAL_DRIVE    = ((uint16_t) 0x0006),
00265   L6474_CONFIG_EXT_32MHZ_XTAL_DRIVE    = ((uint16_t) 0x0007),
00266   L6474_CONFIG_EXT_8MHZ_OSCOUT_INVERT  = ((uint16_t) 0x000C),
00267   L6474_CONFIG_EXT_16MHZ_OSCOUT_INVERT = ((uint16_t) 0x000D),
00268   L6474_CONFIG_EXT_24MHZ_OSCOUT_INVERT = ((uint16_t) 0x000E),
00269   L6474_CONFIG_EXT_32MHZ_OSCOUT_INVERT = ((uint16_t) 0x000F)
00270 } L6474_CONFIG_OSC_MGMT_t;
00271 /**
00272   * @}
00273   */
00274 
00275 /** @defgroup L6474_External_Torque_Regulation_Options_For_CONFIG_Register
00276   * @{
00277   */
00278 ///External Torque regulation options for CONFIG register
00279 typedef enum {
00280   L6474_CONFIG_EN_TQREG_TVAL_USED = ((uint16_t) 0x0000),
00281   L6474_CONFIG_EN_TQREG_ADC_OUT = ((uint16_t) 0x0020)
00282 } L6474_CONFIG_EN_TQREG_t;
00283 /**
00284   * @}
00285   */
00286 
00287 /** @defgroup L6474_Over_Current_Shutdown_Options_For_CONFIG_Register
00288   * @{
00289   */
00290 ///Over Current Shutdown options for CONFIG register
00291 typedef enum {
00292   L6474_CONFIG_OC_SD_DISABLE = ((uint16_t) 0x0000),
00293   L6474_CONFIG_OC_SD_ENABLE  = ((uint16_t) 0x0080)
00294 } L6474_CONFIG_OC_SD_t;
00295 /**
00296   * @}
00297   */
00298 
00299 /** @defgroup L6474_Power_Bridge_Output_Slew_Rate_Options
00300   * @{
00301   */
00302 /// POW_SR values for CONFIG register
00303 typedef enum {
00304   L6474_CONFIG_SR_320V_us    =((uint16_t)0x0000),
00305   L6474_CONFIG_SR_075V_us    =((uint16_t)0x0100),
00306   L6474_CONFIG_SR_110V_us    =((uint16_t)0x0200),
00307   L6474_CONFIG_SR_260V_us    =((uint16_t)0x0300)
00308 } L6474_CONFIG_POW_SR_t;
00309 /**
00310   * @}
00311   */
00312 
00313 /** @defgroup L6474_Off_Time_Options
00314   * @{
00315   */
00316 /// TOFF values for CONFIG register
00317 typedef enum {
00318   L6474_CONFIG_TOFF_004us   = (((uint16_t) 0x01) << 10),
00319   L6474_CONFIG_TOFF_008us   = (((uint16_t) 0x02) << 10),
00320   L6474_CONFIG_TOFF_012us  = (((uint16_t) 0x03) << 10),
00321   L6474_CONFIG_TOFF_016us  = (((uint16_t) 0x04) << 10),
00322   L6474_CONFIG_TOFF_020us  = (((uint16_t) 0x05) << 10),
00323   L6474_CONFIG_TOFF_024us  = (((uint16_t) 0x06) << 10),
00324   L6474_CONFIG_TOFF_028us  = (((uint16_t) 0x07) << 10),
00325   L6474_CONFIG_TOFF_032us  = (((uint16_t) 0x08) << 10),
00326   L6474_CONFIG_TOFF_036us  = (((uint16_t) 0x09) << 10),
00327   L6474_CONFIG_TOFF_040us  = (((uint16_t) 0x0A) << 10),
00328   L6474_CONFIG_TOFF_044us  = (((uint16_t) 0x0B) << 10),
00329   L6474_CONFIG_TOFF_048us  = (((uint16_t) 0x0C) << 10),
00330   L6474_CONFIG_TOFF_052us  = (((uint16_t) 0x0D) << 10),
00331   L6474_CONFIG_TOFF_056us  = (((uint16_t) 0x0E) << 10),
00332   L6474_CONFIG_TOFF_060us  = (((uint16_t) 0x0F) << 10),
00333   L6474_CONFIG_TOFF_064us  = (((uint16_t) 0x10) << 10),
00334   L6474_CONFIG_TOFF_068us  = (((uint16_t) 0x11) << 10),
00335   L6474_CONFIG_TOFF_072us  = (((uint16_t) 0x12) << 10),
00336   L6474_CONFIG_TOFF_076us  = (((uint16_t) 0x13) << 10),
00337   L6474_CONFIG_TOFF_080us  = (((uint16_t) 0x14) << 10),
00338   L6474_CONFIG_TOFF_084us  = (((uint16_t) 0x15) << 10),
00339   L6474_CONFIG_TOFF_088us  = (((uint16_t) 0x16) << 10),
00340   L6474_CONFIG_TOFF_092us  = (((uint16_t) 0x17) << 10),
00341   L6474_CONFIG_TOFF_096us  = (((uint16_t) 0x18) << 10),
00342   L6474_CONFIG_TOFF_100us = (((uint16_t) 0x19) << 10),
00343   L6474_CONFIG_TOFF_104us = (((uint16_t) 0x1A) << 10),
00344   L6474_CONFIG_TOFF_108us = (((uint16_t) 0x1B) << 10),
00345   L6474_CONFIG_TOFF_112us = (((uint16_t) 0x1C) << 10),
00346   L6474_CONFIG_TOFF_116us = (((uint16_t) 0x1D) << 10),
00347   L6474_CONFIG_TOFF_120us = (((uint16_t) 0x1E) << 10),
00348   L6474_CONFIG_TOFF_124us = (((uint16_t) 0x1F) << 10)
00349 } L6474_CONFIG_TOFF_t;
00350 /**
00351   * @}
00352   */
00353 
00354 /** @defgroup L6474_STATUS_Register_Bit_Masks
00355   * @{
00356   */
00357 ///STATUS Register Bit Masks
00358 typedef enum {
00359   L6474_STATUS_HIZ         = (((uint16_t) 0x0001)),
00360   L6474_STATUS_DIR         = (((uint16_t) 0x0010)),
00361   L6474_STATUS_NOTPERF_CMD = (((uint16_t) 0x0080)),
00362   L6474_STATUS_WRONG_CMD   = (((uint16_t) 0x0100)),
00363   L6474_STATUS_UVLO        = (((uint16_t) 0x0200)),
00364   L6474_STATUS_TH_WRN      = (((uint16_t) 0x0400)),
00365   L6474_STATUS_TH_SD       = (((uint16_t) 0x0800)),
00366   L6474_STATUS_OCD         = (((uint16_t) 0x1000))
00367 } L6474_STATUS_Masks_t;
00368 /**
00369   * @}
00370   */
00371 
00372 /** @defgroup L6474_Direction_Field_Of_STATUS_Register
00373   * @{
00374   */  
00375 ///Diretion field of STATUS register
00376 typedef enum {
00377   L6474_STATUS_DIR_FORWARD = (((uint16_t) 0x0001) << 4),
00378   L6474_STATUS_DIR_REVERSE = (((uint16_t) 0x0000) << 4)
00379 } L6474_STATUS_DIR_t;
00380 /**
00381   * @}
00382   */
00383 
00384 /** @defgroup L6474_Internal_Register_Addresses
00385   * @{
00386   */
00387 /// Internal L6474 register addresses
00388 typedef enum {
00389   L6474_ABS_POS        = ((uint8_t) 0x01),
00390   L6474_EL_POS         = ((uint8_t) 0x02),
00391   L6474_MARK           = ((uint8_t) 0x03),
00392   L6474_RESERVED_REG01 = ((uint8_t) 0x04),
00393   L6474_RESERVED_REG02 = ((uint8_t) 0x05),
00394   L6474_RESERVED_REG03 = ((uint8_t) 0x06),
00395   L6474_RESERVED_REG04 = ((uint8_t) 0x07),
00396   L6474_RESERVED_REG05 = ((uint8_t) 0x08),
00397   L6474_RESERVED_REG06 = ((uint8_t) 0x15),
00398   L6474_TVAL           = ((uint8_t) 0x09),
00399   L6474_RESERVED_REG07 = ((uint8_t) 0x0A),
00400   L6474_RESERVED_REG08 = ((uint8_t) 0x0B),
00401   L6474_RESERVED_REG09 = ((uint8_t) 0x0C),
00402   L6474_RESERVED_REG10 = ((uint8_t) 0x0D),
00403   L6474_T_FAST         = ((uint8_t) 0x0E),
00404   L6474_TON_MIN        = ((uint8_t) 0x0F),
00405   L6474_TOFF_MIN       = ((uint8_t) 0x10),
00406   L6474_RESERVED_REG11 = ((uint8_t) 0x11),
00407   L6474_ADC_OUT        = ((uint8_t) 0x12),
00408   L6474_OCD_TH         = ((uint8_t) 0x13),
00409   L6474_RESERVED_REG12 = ((uint8_t) 0x14),
00410   L6474_STEP_MODE      = ((uint8_t) 0x16),
00411   L6474_ALARM_EN       = ((uint8_t) 0x17),
00412   L6474_CONFIG         = ((uint8_t) 0x18),
00413   L6474_STATUS         = ((uint8_t) 0x19),
00414   L6474_RESERVED_REG13 = ((uint8_t) 0x1A),
00415   L6474_RESERVED_REG14 = ((uint8_t) 0x1B),
00416   L6474_INEXISTENT_REG = ((uint8_t) 0x1F)
00417 } L6474_Registers_t;
00418 /**
00419   * @}
00420   */
00421 
00422 /** @defgroup L6474_Command_Set
00423   * @{
00424   */
00425 /// L6474 command set
00426 typedef enum {
00427   L6474_NOP           = ((uint8_t) 0x00),
00428   L6474_SET_PARAM     = ((uint8_t) 0x00),
00429   L6474_GET_PARAM     = ((uint8_t) 0x20),
00430   L6474_ENABLE        = ((uint8_t) 0xB8),
00431   L6474_DISABLE       = ((uint8_t) 0xA8),
00432   L6474_GET_STATUS    = ((uint8_t) 0xD0),
00433   L6474_RESERVED_CMD1 = ((uint8_t) 0xEB),
00434   L6474_RESERVED_CMD2 = ((uint8_t) 0xF8)
00435 } L6474_Commands_t;
00436 
00437 /** 
00438  * @brief  L6474 driver initialization structure definition.
00439  */
00440 /* ACTION --------------------------------------------------------------------*
00441  * Declare here the component's initialization structure, if any, one         *
00442  * variable per line without initialization.                                  *
00443  *                                                                            *
00444  * Example:                                                                   *
00445  *   typedef struct                                                           *
00446  *   {                                                                        *
00447  *     int frequency;                                                         *
00448  *     int update_mode;                                                       *
00449  *   } COMPONENT_Init_t;                                                      *
00450  *----------------------------------------------------------------------------*/
00451 typedef struct
00452 {
00453   /* Acceleration rate in step/s2. Range: (0..+inf). */
00454   int acceleration_step_s2;
00455 
00456   /* Deceleration rate in step/s2. Range: (0..+inf). */
00457   int deceleration_step_s2;
00458 
00459   /* Maximum speed in step/s. Range: (30..10000]. */
00460   int maximum_speed_step_s;
00461 
00462   /* Minimum speed in step/s. Range: [30..10000). */
00463   int minimum_speed_step_s;
00464 
00465   /* Torque regulation current in mA. Range: 31.25mA to 4000mA. */
00466   float torque_regulation_current_mA;
00467 
00468   /* Overcurrent threshold (OCD_TH register). */
00469   L6474_OCD_TH_t overcurrent_threshold;
00470 
00471   /* Overcurrent shutwdown (OC_SD field of CONFIG register). */
00472   L6474_CONFIG_OC_SD_t overcurrent_shutwdown;
00473 
00474   /* Torque regulation method (EN_TQREG field of CONFIG register). */
00475   L6474_CONFIG_EN_TQREG_t torque_regulation_method;
00476   
00477   /* Step selection (STEP_SEL field of STEP_MODE register). */
00478   L6474_STEP_SEL_t step_selection;
00479 
00480   /* Sync selection (SYNC_SEL field of STEP_MODE register). */
00481   L6474_SYNC_SEL_t sync_selection;
00482 
00483   /* Fall time value (T_FAST field of T_FAST register). Range: 2us to 32us. */
00484   L6474_FAST_STEP_t fall_time;
00485 
00486   /* Maximum fast decay time (T_OFF field of T_FAST register). Range: 2us to 32us. */
00487   L6474_TOFF_FAST_t maximum_fast_decay_time;
00488 
00489   /* Minimum ON time in us (TON_MIN register). Range: 0.5us to 64us. */
00490   float minimum_ON_time_us;
00491 
00492   /* Minimum OFF time in us (TOFF_MIN register). Range: 0.5us to 64us. */
00493   float minimum_OFF_time_us;
00494 
00495   /* Target Swicthing Period (field TOFF of CONFIG register). */
00496   L6474_CONFIG_TOFF_t target_swicthing_period;
00497 
00498   /* Slew rate (POW_SR field of CONFIG register). */
00499   L6474_CONFIG_POW_SR_t slew_rate;
00500 
00501   /* Clock setting (OSC_CLK_SEL field of CONFIG register). */
00502   L6474_CONFIG_OSC_MGMT_t clock;
00503 
00504   /* Alarm (ALARM_EN register). */
00505   int alarm;
00506 } L6474_Init_t;
00507 
00508 /** 
00509  * @brief  L6474 driver data structure definition.
00510  */ 
00511 /* ACTION --------------------------------------------------------------------*
00512  * Declare here the structure of component's data, if any, one variable per   *
00513  * line without initialization.                                               *
00514  *                                                                            *
00515  * Example:                                                                   *
00516  *   typedef struct                                                           *
00517  *   {                                                                        *
00518  *       int T0_out;                                                          *
00519  *       int T1_out;                                                          *
00520  *       float T0_degC;                                                       *
00521  *       float T1_degC;                                                       *
00522  *   } COMPONENT_Data_t;                                                      *
00523  *----------------------------------------------------------------------------*/
00524 typedef struct
00525 {
00526   /// Function pointer to flag interrupt call back
00527   void (*flagInterruptCallback)(void);
00528   /// Function pointer to error handler call back
00529   void (*errorHandlerCallback)(uint16_t error);
00530   bool spiPreemtionByIsr; // = FALSE;
00531   bool isrFlag; // = FALSE;
00532   /// L6474 Device Paramaters structure
00533   deviceParams_t devicePrm; //[MAX_NUMBER_OF_DEVICES];
00534   uint8_t number_of_devices;
00535   uint8_t device_instance;
00536   uint8_t spiTxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
00537   uint8_t spiRxBursts[L6474_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
00538 } L6474_Data_t;
00539 
00540 
00541 /* Functions -----------------------------------------------------------------*/
00542 
00543 /** @addtogroup BSP
00544  * @{
00545  */
00546 
00547 /** @addtogroup Components
00548  * @{
00549  */
00550 
00551 /** @addtogroup L6474
00552  * @{
00553  */
00554 
00555 /** @defgroup L6474_Imported_Functions L6474_Imported_Functions
00556  * @{
00557  */
00558 
00559 /* ACTION --------------------------------------------------------------------*
00560  * Declare here extern platform-dependent APIs you might need (e.g.: I/O and  *
00561  * interrupt related functions), and implement them in a glue-logic file on   *
00562  * the target environment, for example within the "x_nucleo_board.c" file.    *
00563  * E.g.:                                                                      *
00564  *   extern Status_t COMPONENT_IO_Init (void *handle);                        *
00565  *   extern Status_t COMPONENT_IO_Read (handle, buf, regadd, bytes);          *
00566  *   extern Status_t COMPONENT_IO_Write(handle, buf, regadd, bytes);          *
00567  *   extern void     COMPONENT_IO_ITConfig(void);                             *
00568  *----------------------------------------------------------------------------*/
00569 ///Delay of the requested number of milliseconds
00570 extern void L6474_Delay(void *handle, uint32_t delay);     
00571 ///Enable Irq
00572 extern void L6474_EnableIrq(void *handle);               
00573 ///Disable Irq
00574 extern void L6474_DisableIrq(void *handle);              
00575 ///Set PWM1 frequency and start it
00576 extern void L6474_Pwm1SetFreq(void *handle, uint16_t newFreq); 
00577 ///Set PWM2 frequency and start it  
00578 extern void L6474_Pwm2SetFreq(void *handle, uint16_t newFreq); 
00579 ///Set PWM3 frequency and start it
00580 extern void L6474_Pwm3SetFreq(void *handle, uint16_t newFreq); 
00581 ///Init the PWM
00582 extern void L6474_PwmInit(void *handle);
00583 ///Stop the PWM
00584 extern void L6474_PwmStop(void *handle);    
00585 ///Reset the L6474 reset pin 
00586 extern void L6474_ReleaseReset(void *handle);           
00587 ///Set the L6474 reset pin 
00588 extern void L6474_Reset(void *handle);                  
00589 ///Set direction GPIO
00590 extern void L6474_SetDirectionGpio(void *handle, uint8_t gpioState); 
00591 ///Write bytes to the L6474s via SPI
00592 extern uint8_t L6474_SpiWriteBytes(void *handle, uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
00593 
00594 #ifdef __cplusplus
00595   }
00596 #endif
00597 
00598 #endif /* #ifndef __L6474_H */
00599 
00600 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/