Neri Tiziano / X_NUCLEO_IHM03A1_for

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Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Components/PowerStep01/PowerStep01.h@6:7af3838de91a, 2017-05-08 (annotated)

Committer:
Davidroid
Date:
Mon May 08 15:41:45 2017 +0000
Revision:
6:7af3838de91a
Parent:
5:e7dca8c6ae9f
Child:
7:9d772e2a9dbe
Aligned to ARM mbed coding style.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nucleosam 0:00a3c3f5a8f0 1 /**
nucleosam 0:00a3c3f5a8f0 2 ******************************************************************************
davide.aliprandi@st.com 4:f48e8d87553e 3 * @file PowerStep01.h
davide.aliprandi@st.com 4:f48e8d87553e 4 * @author IPC Rennes
davide.aliprandi@st.com 4:f48e8d87553e 5 * @version V1.0.1
davide.aliprandi@st.com 4:f48e8d87553e 6 * @date September 13th, 2016
davide.aliprandi@st.com 4:f48e8d87553e 7 * @brief This file contains the class of a Powerstep01 Motor Control component.
davide.aliprandi@st.com 4:f48e8d87553e 8 * @note (C) COPYRIGHT 2016 STMicroelectronics
nucleosam 0:00a3c3f5a8f0 9 ******************************************************************************
nucleosam 0:00a3c3f5a8f0 10 * @attention
nucleosam 0:00a3c3f5a8f0 11 *
davide.aliprandi@st.com 4:f48e8d87553e 12 * <h2><center>&copy; COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nucleosam 0:00a3c3f5a8f0 13 *
nucleosam 0:00a3c3f5a8f0 14 * Redistribution and use in source and binary forms, with or without modification,
nucleosam 0:00a3c3f5a8f0 15 * are permitted provided that the following conditions are met:
nucleosam 0:00a3c3f5a8f0 16 * 1. Redistributions of source code must retain the above copyright notice,
nucleosam 0:00a3c3f5a8f0 17 * this list of conditions and the following disclaimer.
nucleosam 0:00a3c3f5a8f0 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
nucleosam 0:00a3c3f5a8f0 19 * this list of conditions and the following disclaimer in the documentation
nucleosam 0:00a3c3f5a8f0 20 * and/or other materials provided with the distribution.
nucleosam 0:00a3c3f5a8f0 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
nucleosam 0:00a3c3f5a8f0 22 * may be used to endorse or promote products derived from this software
nucleosam 0:00a3c3f5a8f0 23 * without specific prior written permission.
nucleosam 0:00a3c3f5a8f0 24 *
nucleosam 0:00a3c3f5a8f0 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nucleosam 0:00a3c3f5a8f0 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nucleosam 0:00a3c3f5a8f0 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nucleosam 0:00a3c3f5a8f0 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nucleosam 0:00a3c3f5a8f0 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nucleosam 0:00a3c3f5a8f0 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nucleosam 0:00a3c3f5a8f0 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nucleosam 0:00a3c3f5a8f0 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nucleosam 0:00a3c3f5a8f0 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nucleosam 0:00a3c3f5a8f0 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nucleosam 0:00a3c3f5a8f0 35 *
nucleosam 0:00a3c3f5a8f0 36 ******************************************************************************
nucleosam 0:00a3c3f5a8f0 37 */
nucleosam 0:00a3c3f5a8f0 38
davide.aliprandi@st.com 4:f48e8d87553e 39
nucleosam 0:00a3c3f5a8f0 40 /* Define to prevent recursive inclusion -------------------------------------*/
nucleosam 0:00a3c3f5a8f0 41
davide.aliprandi@st.com 4:f48e8d87553e 42 #ifndef __POWERSTEP01_CLASS_H
davide.aliprandi@st.com 4:f48e8d87553e 43 #define __POWERSTEP01_CLASS_H
davide.aliprandi@st.com 4:f48e8d87553e 44
nucleosam 0:00a3c3f5a8f0 45
nucleosam 0:00a3c3f5a8f0 46 /* Includes ------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 47
davide.aliprandi@st.com 4:f48e8d87553e 48 /* ACTION 1 ------------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 49 * Include here platform specific header files. *
davide.aliprandi@st.com 4:f48e8d87553e 50 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 51 #include "mbed.h"
davide.aliprandi@st.com 4:f48e8d87553e 52 #include "DevSPI.h"
davide.aliprandi@st.com 4:f48e8d87553e 53 /* ACTION 2 ------------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 54 * Include here component specific header files. *
davide.aliprandi@st.com 4:f48e8d87553e 55 *----------------------------------------------------------------------------*/
Davidroid 5:e7dca8c6ae9f 56 #include "PowerStep01_def.h"
davide.aliprandi@st.com 4:f48e8d87553e 57 /* ACTION 3 ------------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 58 * Include here interface specific header files. *
davide.aliprandi@st.com 4:f48e8d87553e 59 * *
davide.aliprandi@st.com 4:f48e8d87553e 60 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 61 * #include "HumiditySensor.h" *
davide.aliprandi@st.com 4:f48e8d87553e 62 * #include "TemperatureSensor.h" *
davide.aliprandi@st.com 4:f48e8d87553e 63 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 64 #include "StepperMotor.h"
nucleosam 0:00a3c3f5a8f0 65
nucleosam 0:00a3c3f5a8f0 66
davide.aliprandi@st.com 4:f48e8d87553e 67 /* Classes -------------------------------------------------------------------*/
nucleosam 0:00a3c3f5a8f0 68
nucleosam 0:00a3c3f5a8f0 69 /**
davide.aliprandi@st.com 4:f48e8d87553e 70 * @brief Class representing a Powerstep01 component.
davide.aliprandi@st.com 4:f48e8d87553e 71 */
davide.aliprandi@st.com 4:f48e8d87553e 72 class PowerStep01 : public StepperMotor
davide.aliprandi@st.com 4:f48e8d87553e 73 {
davide.aliprandi@st.com 4:f48e8d87553e 74 public:
davide.aliprandi@st.com 4:f48e8d87553e 75
davide.aliprandi@st.com 4:f48e8d87553e 76 /*** Constructor and Destructor Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 77
davide.aliprandi@st.com 4:f48e8d87553e 78 /**
davide.aliprandi@st.com 4:f48e8d87553e 79 * @brief Constructor.
davide.aliprandi@st.com 4:f48e8d87553e 80 * @param flag_irq pin name of the FLAG pin of the component.
davide.aliprandi@st.com 4:f48e8d87553e 81 * @param busy_irq pin name of the BUSY pin of the component.
davide.aliprandi@st.com 4:f48e8d87553e 82 * @param standby_reset pin name of the STBY\RST pin of the component.
davide.aliprandi@st.com 4:f48e8d87553e 83 * @param pwm pin name of the PWM pin of the component.
davide.aliprandi@st.com 4:f48e8d87553e 84 * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
davide.aliprandi@st.com 4:f48e8d87553e 85 * @param spi SPI device to be used for communication.
davide.aliprandi@st.com 4:f48e8d87553e 86 */
davide.aliprandi@st.com 4:f48e8d87553e 87 PowerStep01(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName pwm, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), pwm(pwm), ssel(ssel), dev_spi(spi)
davide.aliprandi@st.com 4:f48e8d87553e 88 {
davide.aliprandi@st.com 4:f48e8d87553e 89 /* Checking stackability. */
davide.aliprandi@st.com 4:f48e8d87553e 90 if (!(numberOfDevices < MAX_NUMBER_OF_DEVICES))
davide.aliprandi@st.com 4:f48e8d87553e 91 error("Instantiation of the PowerStep01 component failed: it can be stacked up to %d times.\r\n", MAX_NUMBER_OF_DEVICES);
davide.aliprandi@st.com 4:f48e8d87553e 92
davide.aliprandi@st.com 4:f48e8d87553e 93 /* ACTION 4 ----------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 94 * Initialize here the component's member variables, one variable per *
davide.aliprandi@st.com 4:f48e8d87553e 95 * line. *
davide.aliprandi@st.com 4:f48e8d87553e 96 * *
davide.aliprandi@st.com 4:f48e8d87553e 97 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 98 * measure = 0; *
davide.aliprandi@st.com 4:f48e8d87553e 99 * instance_id = number_of_instances++; *
davide.aliprandi@st.com 4:f48e8d87553e 100 *--------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 101 errorHandlerCallback = 0;
davide.aliprandi@st.com 4:f48e8d87553e 102 deviceInstance = numberOfDevices++;
davide.aliprandi@st.com 4:f48e8d87553e 103 memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
davide.aliprandi@st.com 4:f48e8d87553e 104 memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
davide.aliprandi@st.com 4:f48e8d87553e 105 }
davide.aliprandi@st.com 4:f48e8d87553e 106
davide.aliprandi@st.com 4:f48e8d87553e 107 /**
davide.aliprandi@st.com 4:f48e8d87553e 108 * @brief Destructor.
davide.aliprandi@st.com 4:f48e8d87553e 109 */
davide.aliprandi@st.com 4:f48e8d87553e 110 virtual ~PowerStep01(void) {}
davide.aliprandi@st.com 4:f48e8d87553e 111
davide.aliprandi@st.com 4:f48e8d87553e 112
davide.aliprandi@st.com 4:f48e8d87553e 113 /*** Public Component Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 114
davide.aliprandi@st.com 4:f48e8d87553e 115 /* ACTION 5 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 116 * Implement here the component's public methods, as wrappers of the C *
davide.aliprandi@st.com 4:f48e8d87553e 117 * component's functions. *
davide.aliprandi@st.com 4:f48e8d87553e 118 * They should be: *
davide.aliprandi@st.com 4:f48e8d87553e 119 * + Methods with the same name of the C component's virtual table's *
davide.aliprandi@st.com 4:f48e8d87553e 120 * functions (1); *
davide.aliprandi@st.com 4:f48e8d87553e 121 * + Methods with the same name of the C component's extended virtual *
davide.aliprandi@st.com 4:f48e8d87553e 122 * table's functions, if any (2). *
davide.aliprandi@st.com 4:f48e8d87553e 123 * *
davide.aliprandi@st.com 4:f48e8d87553e 124 * Example: *
Davidroid 6:7af3838de91a 125 * virtual int get_value(float *pData) //(1) *
davide.aliprandi@st.com 4:f48e8d87553e 126 * { *
Davidroid 6:7af3838de91a 127 * return COMPONENT_get_value(float *pfData); *
davide.aliprandi@st.com 4:f48e8d87553e 128 * } *
davide.aliprandi@st.com 4:f48e8d87553e 129 * *
Davidroid 6:7af3838de91a 130 * virtual int enable_feature(void) //(2) *
davide.aliprandi@st.com 4:f48e8d87553e 131 * { *
Davidroid 6:7af3838de91a 132 * return COMPONENT_enable_feature(); *
davide.aliprandi@st.com 4:f48e8d87553e 133 * } *
davide.aliprandi@st.com 4:f48e8d87553e 134 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 135
davide.aliprandi@st.com 4:f48e8d87553e 136 /**
davide.aliprandi@st.com 4:f48e8d87553e 137 * @brief Public functions inherited from the Component Class
davide.aliprandi@st.com 4:f48e8d87553e 138 */
davide.aliprandi@st.com 4:f48e8d87553e 139
davide.aliprandi@st.com 4:f48e8d87553e 140 /**
davide.aliprandi@st.com 4:f48e8d87553e 141 * @brief Initialize the component.
davide.aliprandi@st.com 4:f48e8d87553e 142 * @param init Pointer to device specific initalization structure.
davide.aliprandi@st.com 4:f48e8d87553e 143 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 144 */
davide.aliprandi@st.com 4:f48e8d87553e 145 virtual int init(void *init = NULL)
davide.aliprandi@st.com 4:f48e8d87553e 146 {
davide.aliprandi@st.com 4:f48e8d87553e 147 return (int) Powerstep01_Init((void *) init);
davide.aliprandi@st.com 4:f48e8d87553e 148 }
davide.aliprandi@st.com 4:f48e8d87553e 149
davide.aliprandi@st.com 4:f48e8d87553e 150 /**
davide.aliprandi@st.com 4:f48e8d87553e 151 * @brief Getting the ID of the component.
davide.aliprandi@st.com 4:f48e8d87553e 152 * @param id Pointer to an allocated variable to store the ID into.
davide.aliprandi@st.com 4:f48e8d87553e 153 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 154 */
davide.aliprandi@st.com 4:f48e8d87553e 155 virtual int read_id(uint8_t *id = NULL)
davide.aliprandi@st.com 4:f48e8d87553e 156 {
davide.aliprandi@st.com 4:f48e8d87553e 157 return (int) Powerstep01_ReadID((uint8_t *) id);
davide.aliprandi@st.com 4:f48e8d87553e 158 }
davide.aliprandi@st.com 4:f48e8d87553e 159
davide.aliprandi@st.com 4:f48e8d87553e 160 /**
davide.aliprandi@st.com 4:f48e8d87553e 161 * @brief Public functions inherited from the StepperMotor Class
davide.aliprandi@st.com 4:f48e8d87553e 162 */
davide.aliprandi@st.com 4:f48e8d87553e 163
davide.aliprandi@st.com 4:f48e8d87553e 164 /**
davide.aliprandi@st.com 4:f48e8d87553e 165 * @brief Getting the value of the Status Register.
davide.aliprandi@st.com 4:f48e8d87553e 166 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 167 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 168 * @note The Status Register's flags are cleared, contrary to read_status_register().
davide.aliprandi@st.com 4:f48e8d87553e 169 */
davide.aliprandi@st.com 4:f48e8d87553e 170 virtual unsigned int get_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 171 {
davide.aliprandi@st.com 4:f48e8d87553e 172 return (unsigned int) Powerstep01_CmdGetStatus();
davide.aliprandi@st.com 4:f48e8d87553e 173 }
davide.aliprandi@st.com 4:f48e8d87553e 174
davide.aliprandi@st.com 4:f48e8d87553e 175 /**
davide.aliprandi@st.com 4:f48e8d87553e 176 * @brief Getting the position.
davide.aliprandi@st.com 4:f48e8d87553e 177 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 178 * @retval The position.
davide.aliprandi@st.com 4:f48e8d87553e 179 */
davide.aliprandi@st.com 4:f48e8d87553e 180 virtual signed int get_position(void)
davide.aliprandi@st.com 4:f48e8d87553e 181 {
davide.aliprandi@st.com 4:f48e8d87553e 182 return (signed int)Powerstep01_GetPosition();
davide.aliprandi@st.com 4:f48e8d87553e 183 }
davide.aliprandi@st.com 4:f48e8d87553e 184
davide.aliprandi@st.com 4:f48e8d87553e 185 /**
davide.aliprandi@st.com 4:f48e8d87553e 186 * @brief Getting the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 187 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 188 * @retval The marked position.
davide.aliprandi@st.com 4:f48e8d87553e 189 */
davide.aliprandi@st.com 4:f48e8d87553e 190 virtual signed int get_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 191 {
davide.aliprandi@st.com 4:f48e8d87553e 192 return (signed int)Powerstep01_GetMark();
davide.aliprandi@st.com 4:f48e8d87553e 193 }
davide.aliprandi@st.com 4:f48e8d87553e 194
davide.aliprandi@st.com 4:f48e8d87553e 195 /**
davide.aliprandi@st.com 4:f48e8d87553e 196 * @brief Getting the current speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 197 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 198 * @retval The current speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 199 */
davide.aliprandi@st.com 4:f48e8d87553e 200 virtual unsigned int get_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 201 {
davide.aliprandi@st.com 4:f48e8d87553e 202 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 203 }
davide.aliprandi@st.com 4:f48e8d87553e 204
davide.aliprandi@st.com 4:f48e8d87553e 205 /**
davide.aliprandi@st.com 4:f48e8d87553e 206 * @brief Getting the maximum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 207 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 208 * @retval The maximum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 209 */
davide.aliprandi@st.com 4:f48e8d87553e 210 virtual unsigned int get_max_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 211 {
davide.aliprandi@st.com 4:f48e8d87553e 212 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 213 }
davide.aliprandi@st.com 4:f48e8d87553e 214
davide.aliprandi@st.com 4:f48e8d87553e 215 /**
davide.aliprandi@st.com 4:f48e8d87553e 216 * @brief Getting the minimum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 217 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 218 * @retval The minimum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 219 */
davide.aliprandi@st.com 4:f48e8d87553e 220 virtual unsigned int get_min_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 221 {
davide.aliprandi@st.com 4:f48e8d87553e 222 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 223 }
davide.aliprandi@st.com 4:f48e8d87553e 224
davide.aliprandi@st.com 4:f48e8d87553e 225 /**
davide.aliprandi@st.com 4:f48e8d87553e 226 * @brief Getting the acceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 227 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 228 * @retval The acceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 229 */
davide.aliprandi@st.com 4:f48e8d87553e 230 virtual unsigned int get_acceleration(void)
davide.aliprandi@st.com 4:f48e8d87553e 231 {
davide.aliprandi@st.com 4:f48e8d87553e 232 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
davide.aliprandi@st.com 4:f48e8d87553e 233 }
davide.aliprandi@st.com 4:f48e8d87553e 234
davide.aliprandi@st.com 4:f48e8d87553e 235 /**
davide.aliprandi@st.com 4:f48e8d87553e 236 * @brief Getting the deceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 237 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 238 * @retval The deceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 239 */
davide.aliprandi@st.com 4:f48e8d87553e 240 virtual unsigned int get_deceleration(void)
davide.aliprandi@st.com 4:f48e8d87553e 241 {
davide.aliprandi@st.com 4:f48e8d87553e 242 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
davide.aliprandi@st.com 4:f48e8d87553e 243 }
davide.aliprandi@st.com 4:f48e8d87553e 244
davide.aliprandi@st.com 4:f48e8d87553e 245 /**
davide.aliprandi@st.com 4:f48e8d87553e 246 * @brief Getting the direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 247 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 248 * @retval The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 249 */
davide.aliprandi@st.com 4:f48e8d87553e 250 virtual direction_t get_direction(void)
davide.aliprandi@st.com 4:f48e8d87553e 251 {
davide.aliprandi@st.com 4:f48e8d87553e 252 if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
davide.aliprandi@st.com 4:f48e8d87553e 253 {
davide.aliprandi@st.com 4:f48e8d87553e 254 return FWD;
davide.aliprandi@st.com 4:f48e8d87553e 255 }
davide.aliprandi@st.com 4:f48e8d87553e 256 else
davide.aliprandi@st.com 4:f48e8d87553e 257 {
davide.aliprandi@st.com 4:f48e8d87553e 258 return BWD;
davide.aliprandi@st.com 4:f48e8d87553e 259 }
davide.aliprandi@st.com 4:f48e8d87553e 260 }
davide.aliprandi@st.com 4:f48e8d87553e 261
davide.aliprandi@st.com 4:f48e8d87553e 262 /**
davide.aliprandi@st.com 4:f48e8d87553e 263 * @brief Setting the current position to be the home position.
davide.aliprandi@st.com 4:f48e8d87553e 264 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 265 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 266 */
davide.aliprandi@st.com 4:f48e8d87553e 267 virtual void set_home(void)
davide.aliprandi@st.com 4:f48e8d87553e 268 {
davide.aliprandi@st.com 4:f48e8d87553e 269 Powerstep01_SetHome();
davide.aliprandi@st.com 4:f48e8d87553e 270 }
davide.aliprandi@st.com 4:f48e8d87553e 271
davide.aliprandi@st.com 4:f48e8d87553e 272 /**
davide.aliprandi@st.com 4:f48e8d87553e 273 * @brief Setting the current position to be the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 274 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 275 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 276 */
davide.aliprandi@st.com 4:f48e8d87553e 277 virtual void set_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 278 {
davide.aliprandi@st.com 4:f48e8d87553e 279 Powerstep01_SetMark();
davide.aliprandi@st.com 4:f48e8d87553e 280 }
davide.aliprandi@st.com 4:f48e8d87553e 281
davide.aliprandi@st.com 4:f48e8d87553e 282 /**
davide.aliprandi@st.com 4:f48e8d87553e 283 * @brief Setting the maximum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 284 * @param speed The maximum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 285 * @retval TRUE if value is valid, FALSE otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 286 */
davide.aliprandi@st.com 4:f48e8d87553e 287 virtual bool set_max_speed(unsigned int speed)
davide.aliprandi@st.com 4:f48e8d87553e 288 {
davide.aliprandi@st.com 4:f48e8d87553e 289 return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
davide.aliprandi@st.com 4:f48e8d87553e 290 }
davide.aliprandi@st.com 4:f48e8d87553e 291
davide.aliprandi@st.com 4:f48e8d87553e 292 /**
davide.aliprandi@st.com 4:f48e8d87553e 293 * @brief Setting the minimum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 294 * @param speed The minimum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 295 * @retval TRUE if value is valid, FALSE otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 296 */
davide.aliprandi@st.com 4:f48e8d87553e 297 virtual bool set_min_speed(unsigned int speed)
davide.aliprandi@st.com 4:f48e8d87553e 298 {
davide.aliprandi@st.com 4:f48e8d87553e 299 return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
davide.aliprandi@st.com 4:f48e8d87553e 300 }
davide.aliprandi@st.com 4:f48e8d87553e 301
davide.aliprandi@st.com 4:f48e8d87553e 302 /**
davide.aliprandi@st.com 4:f48e8d87553e 303 * @brief Setting the acceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 304 * @param acceleration The acceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 305 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 306 */
davide.aliprandi@st.com 4:f48e8d87553e 307 virtual bool set_acceleration(unsigned int acceleration)
davide.aliprandi@st.com 4:f48e8d87553e 308 {
davide.aliprandi@st.com 4:f48e8d87553e 309 return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
davide.aliprandi@st.com 4:f48e8d87553e 310 }
davide.aliprandi@st.com 4:f48e8d87553e 311
davide.aliprandi@st.com 4:f48e8d87553e 312 /**
davide.aliprandi@st.com 4:f48e8d87553e 313 * @brief Setting the deceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 314 * @param deceleration The deceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 315 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 316 */
davide.aliprandi@st.com 4:f48e8d87553e 317 virtual bool set_deceleration(unsigned int deceleration)
davide.aliprandi@st.com 4:f48e8d87553e 318 {
davide.aliprandi@st.com 4:f48e8d87553e 319 return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
davide.aliprandi@st.com 4:f48e8d87553e 320 }
davide.aliprandi@st.com 4:f48e8d87553e 321
davide.aliprandi@st.com 4:f48e8d87553e 322 /**
davide.aliprandi@st.com 4:f48e8d87553e 323 * @brief Setting the Step Mode.
davide.aliprandi@st.com 4:f48e8d87553e 324 * @param step_mode The Step Mode.
davide.aliprandi@st.com 4:f48e8d87553e 325 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 326 * @note step_mode can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 327 * + STEP_MODE_FULL
davide.aliprandi@st.com 4:f48e8d87553e 328 * + STEP_MODE_HALF
davide.aliprandi@st.com 4:f48e8d87553e 329 * + STEP_MODE_1_4
davide.aliprandi@st.com 4:f48e8d87553e 330 * + STEP_MODE_1_8
davide.aliprandi@st.com 4:f48e8d87553e 331 * + STEP_MODE_1_16
davide.aliprandi@st.com 4:f48e8d87553e 332 * + STEP_MODE_1_32
davide.aliprandi@st.com 4:f48e8d87553e 333 * + STEP_MODE_1_64
davide.aliprandi@st.com 4:f48e8d87553e 334 * + STEP_MODE_1_128
davide.aliprandi@st.com 4:f48e8d87553e 335 */
davide.aliprandi@st.com 4:f48e8d87553e 336 virtual bool set_step_mode(step_mode_t step_mode)
davide.aliprandi@st.com 4:f48e8d87553e 337 {
davide.aliprandi@st.com 4:f48e8d87553e 338 return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
davide.aliprandi@st.com 4:f48e8d87553e 339 }
davide.aliprandi@st.com 4:f48e8d87553e 340
davide.aliprandi@st.com 4:f48e8d87553e 341 /**
davide.aliprandi@st.com 4:f48e8d87553e 342 * @brief Going to a specified position.
davide.aliprandi@st.com 4:f48e8d87553e 343 * @param position The desired position.
davide.aliprandi@st.com 4:f48e8d87553e 344 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 345 */
davide.aliprandi@st.com 4:f48e8d87553e 346 virtual void go_to(signed int position)
davide.aliprandi@st.com 4:f48e8d87553e 347 {
davide.aliprandi@st.com 4:f48e8d87553e 348 Powerstep01_CmdGoTo((int32_t)position);
davide.aliprandi@st.com 4:f48e8d87553e 349 }
davide.aliprandi@st.com 4:f48e8d87553e 350
davide.aliprandi@st.com 4:f48e8d87553e 351 virtual void go_to(direction_t direction, signed int position)
davide.aliprandi@st.com 4:f48e8d87553e 352 {
davide.aliprandi@st.com 4:f48e8d87553e 353 Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
davide.aliprandi@st.com 4:f48e8d87553e 354 }
davide.aliprandi@st.com 4:f48e8d87553e 355
davide.aliprandi@st.com 4:f48e8d87553e 356 /**
davide.aliprandi@st.com 4:f48e8d87553e 357 * @brief Going to the home position.
davide.aliprandi@st.com 4:f48e8d87553e 358 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 359 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 360 */
davide.aliprandi@st.com 4:f48e8d87553e 361 virtual void go_home(void)
davide.aliprandi@st.com 4:f48e8d87553e 362 {
davide.aliprandi@st.com 4:f48e8d87553e 363 Powerstep01_CmdGoHome();
davide.aliprandi@st.com 4:f48e8d87553e 364 }
davide.aliprandi@st.com 4:f48e8d87553e 365
davide.aliprandi@st.com 4:f48e8d87553e 366 /**
davide.aliprandi@st.com 4:f48e8d87553e 367 * @brief Going to the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 368 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 369 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 370 */
davide.aliprandi@st.com 4:f48e8d87553e 371 virtual void go_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 372 {
davide.aliprandi@st.com 4:f48e8d87553e 373 Powerstep01_CmdGoMark();
davide.aliprandi@st.com 4:f48e8d87553e 374 }
nucleosam 0:00a3c3f5a8f0 375
davide.aliprandi@st.com 4:f48e8d87553e 376 /**
davide.aliprandi@st.com 4:f48e8d87553e 377 * @brief Running the motor towards a specified direction.
davide.aliprandi@st.com 4:f48e8d87553e 378 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 379 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 380 */
davide.aliprandi@st.com 4:f48e8d87553e 381 virtual void run(direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 382 {
davide.aliprandi@st.com 4:f48e8d87553e 383 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 384 }
davide.aliprandi@st.com 4:f48e8d87553e 385
davide.aliprandi@st.com 4:f48e8d87553e 386 /**
davide.aliprandi@st.com 4:f48e8d87553e 387 * @brief Moving the motor towards a specified direction for a certain number of steps.
davide.aliprandi@st.com 4:f48e8d87553e 388 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 389 * @param steps The desired number of steps.
davide.aliprandi@st.com 4:f48e8d87553e 390 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 391 */
davide.aliprandi@st.com 4:f48e8d87553e 392 virtual void move(direction_t direction, unsigned int steps)
davide.aliprandi@st.com 4:f48e8d87553e 393 {
davide.aliprandi@st.com 4:f48e8d87553e 394 Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
davide.aliprandi@st.com 4:f48e8d87553e 395 }
davide.aliprandi@st.com 4:f48e8d87553e 396
davide.aliprandi@st.com 4:f48e8d87553e 397 /**
davide.aliprandi@st.com 4:f48e8d87553e 398 * @brief Stopping the motor through an immediate deceleration up to zero speed.
davide.aliprandi@st.com 4:f48e8d87553e 399 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 400 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 401 */
davide.aliprandi@st.com 4:f48e8d87553e 402 virtual void soft_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 403 {
davide.aliprandi@st.com 4:f48e8d87553e 404 Powerstep01_CmdSoftStop();
davide.aliprandi@st.com 4:f48e8d87553e 405 }
davide.aliprandi@st.com 4:f48e8d87553e 406
davide.aliprandi@st.com 4:f48e8d87553e 407 /**
davide.aliprandi@st.com 4:f48e8d87553e 408 * @brief Stopping the motor through an immediate infinite deceleration.
davide.aliprandi@st.com 4:f48e8d87553e 409 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 410 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 411 */
davide.aliprandi@st.com 4:f48e8d87553e 412 virtual void hard_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 413 {
davide.aliprandi@st.com 4:f48e8d87553e 414 Powerstep01_CmdHardStop();
davide.aliprandi@st.com 4:f48e8d87553e 415 }
davide.aliprandi@st.com 4:f48e8d87553e 416
davide.aliprandi@st.com 4:f48e8d87553e 417 /**
davide.aliprandi@st.com 4:f48e8d87553e 418 * @brief Disabling the power bridge after performing a deceleration to zero.
davide.aliprandi@st.com 4:f48e8d87553e 419 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 420 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 421 */
davide.aliprandi@st.com 4:f48e8d87553e 422 virtual void soft_hiz(void)
davide.aliprandi@st.com 4:f48e8d87553e 423 {
davide.aliprandi@st.com 4:f48e8d87553e 424 Powerstep01_CmdSoftHiZ();
davide.aliprandi@st.com 4:f48e8d87553e 425 }
davide.aliprandi@st.com 4:f48e8d87553e 426
davide.aliprandi@st.com 4:f48e8d87553e 427 /**
davide.aliprandi@st.com 4:f48e8d87553e 428 * @brief Disabling the power bridge immediately.
davide.aliprandi@st.com 4:f48e8d87553e 429 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 430 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 431 */
davide.aliprandi@st.com 4:f48e8d87553e 432 virtual void hard_hiz(void)
davide.aliprandi@st.com 4:f48e8d87553e 433 {
davide.aliprandi@st.com 4:f48e8d87553e 434 Powerstep01_CmdHardHiZ();
davide.aliprandi@st.com 4:f48e8d87553e 435 }
davide.aliprandi@st.com 4:f48e8d87553e 436
davide.aliprandi@st.com 4:f48e8d87553e 437 /**
davide.aliprandi@st.com 4:f48e8d87553e 438 * @brief Waiting while the motor is active.
davide.aliprandi@st.com 4:f48e8d87553e 439 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 440 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 441 */
davide.aliprandi@st.com 4:f48e8d87553e 442 virtual void wait_while_active(void)
davide.aliprandi@st.com 4:f48e8d87553e 443 {
davide.aliprandi@st.com 4:f48e8d87553e 444 Powerstep01_WaitWhileActive();
davide.aliprandi@st.com 4:f48e8d87553e 445 }
davide.aliprandi@st.com 4:f48e8d87553e 446
davide.aliprandi@st.com 4:f48e8d87553e 447 /**
davide.aliprandi@st.com 4:f48e8d87553e 448 * @brief Public functions NOT inherited
davide.aliprandi@st.com 4:f48e8d87553e 449 */
davide.aliprandi@st.com 4:f48e8d87553e 450
davide.aliprandi@st.com 4:f48e8d87553e 451 /**
davide.aliprandi@st.com 4:f48e8d87553e 452 * @brief Attaching an error handler.
davide.aliprandi@st.com 4:f48e8d87553e 453 * @param fptr An error handler.
davide.aliprandi@st.com 4:f48e8d87553e 454 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 455 */
davide.aliprandi@st.com 4:f48e8d87553e 456 virtual void attach_error_handler(void (*fptr)(uint16_t error))
davide.aliprandi@st.com 4:f48e8d87553e 457 {
davide.aliprandi@st.com 4:f48e8d87553e 458 Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
davide.aliprandi@st.com 4:f48e8d87553e 459 }
davide.aliprandi@st.com 4:f48e8d87553e 460
davide.aliprandi@st.com 4:f48e8d87553e 461 /**
davide.aliprandi@st.com 4:f48e8d87553e 462 * @brief Checks if the device is busy by reading the busy pin position.
davide.aliprandi@st.com 4:f48e8d87553e 463 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 464 * @retval One if the device his busy (low logic level on busy output),
davide.aliprandi@st.com 4:f48e8d87553e 465 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 466 */
davide.aliprandi@st.com 4:f48e8d87553e 467 virtual int check_busy_hw(void)
davide.aliprandi@st.com 4:f48e8d87553e 468 {
davide.aliprandi@st.com 4:f48e8d87553e 469 if (busy_irq!=0) return 0x01;
davide.aliprandi@st.com 4:f48e8d87553e 470 else return 0x00;
davide.aliprandi@st.com 4:f48e8d87553e 471 }
davide.aliprandi@st.com 4:f48e8d87553e 472
davide.aliprandi@st.com 4:f48e8d87553e 473 /**
davide.aliprandi@st.com 4:f48e8d87553e 474 * @brief Checks if the device has an alarm flag set by reading the flag pin position.
davide.aliprandi@st.com 4:f48e8d87553e 475 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 476 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 477 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 478 */
davide.aliprandi@st.com 4:f48e8d87553e 479 virtual unsigned int check_status_hw(void)
davide.aliprandi@st.com 4:f48e8d87553e 480 {
davide.aliprandi@st.com 4:f48e8d87553e 481 if (flag_irq!=0) return 0x01;
davide.aliprandi@st.com 4:f48e8d87553e 482 else return 0x00;
davide.aliprandi@st.com 4:f48e8d87553e 483 }
davide.aliprandi@st.com 4:f48e8d87553e 484
davide.aliprandi@st.com 4:f48e8d87553e 485 /**
davide.aliprandi@st.com 4:f48e8d87553e 486 * @brief Fetch and clear status flags of all devices
davide.aliprandi@st.com 4:f48e8d87553e 487 * by issuing a GET_STATUS command simultaneously
davide.aliprandi@st.com 4:f48e8d87553e 488 * to all devices.
davide.aliprandi@st.com 4:f48e8d87553e 489 * Then, the fetched status of each device can be retrieved
davide.aliprandi@st.com 4:f48e8d87553e 490 * by using the Powerstep01_GetFetchedStatus function
davide.aliprandi@st.com 4:f48e8d87553e 491 * provided there is no other calls to functions which
davide.aliprandi@st.com 4:f48e8d87553e 492 * use the SPI in between.
davide.aliprandi@st.com 4:f48e8d87553e 493 * @retval None
davide.aliprandi@st.com 4:f48e8d87553e 494 */
davide.aliprandi@st.com 4:f48e8d87553e 495 virtual void fetch_and_clear_all_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 496 {
davide.aliprandi@st.com 4:f48e8d87553e 497 Powerstep01_FetchAndClearAllStatus();
davide.aliprandi@st.com 4:f48e8d87553e 498 }
davide.aliprandi@st.com 4:f48e8d87553e 499
davide.aliprandi@st.com 4:f48e8d87553e 500 /**
davide.aliprandi@st.com 4:f48e8d87553e 501 * @brief Getting a parameter float value.
davide.aliprandi@st.com 4:f48e8d87553e 502 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 503 * @retval The parameter's float value.
davide.aliprandi@st.com 4:f48e8d87553e 504 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 505 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 506 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 507 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 508 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 509 * + POWERSTEP01_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 510 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 511 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 512 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 513 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 514 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 515 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 516 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 517 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 518 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 519 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 520 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 521 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 522 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 523 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 524 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 525 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 526 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 527 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 528 */
davide.aliprandi@st.com 4:f48e8d87553e 529 virtual float get_analog_value(unsigned int parameter)
davide.aliprandi@st.com 4:f48e8d87553e 530 {
davide.aliprandi@st.com 4:f48e8d87553e 531 return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
davide.aliprandi@st.com 4:f48e8d87553e 532 }
nucleosam 0:00a3c3f5a8f0 533
davide.aliprandi@st.com 4:f48e8d87553e 534 /**
davide.aliprandi@st.com 4:f48e8d87553e 535 * @brief Get the value of the STATUS register which was
davide.aliprandi@st.com 4:f48e8d87553e 536 * fetched by using Powerstep01_FetchAndClearAllStatus.
davide.aliprandi@st.com 4:f48e8d87553e 537 * The fetched values are available as long as there
davide.aliprandi@st.com 4:f48e8d87553e 538 * no other calls to functions which use the SPI.
davide.aliprandi@st.com 4:f48e8d87553e 539 * @retval Last fetched value of the STATUS register.
davide.aliprandi@st.com 4:f48e8d87553e 540 */
davide.aliprandi@st.com 4:f48e8d87553e 541 virtual uint16_t get_fetched_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 542 {
davide.aliprandi@st.com 4:f48e8d87553e 543 return Powerstep01_GetFetchedStatus();
davide.aliprandi@st.com 4:f48e8d87553e 544 }
davide.aliprandi@st.com 4:f48e8d87553e 545
davide.aliprandi@st.com 4:f48e8d87553e 546 /**
davide.aliprandi@st.com 4:f48e8d87553e 547 * @brief Getting the version of the firmware.
davide.aliprandi@st.com 4:f48e8d87553e 548 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 549 * @retval The version of the firmware.
davide.aliprandi@st.com 4:f48e8d87553e 550 */
davide.aliprandi@st.com 4:f48e8d87553e 551 virtual unsigned int get_fw_version(void)
davide.aliprandi@st.com 4:f48e8d87553e 552 {
davide.aliprandi@st.com 4:f48e8d87553e 553 return (unsigned int) Powerstep01_GetFwVersion();
davide.aliprandi@st.com 4:f48e8d87553e 554 }
davide.aliprandi@st.com 4:f48e8d87553e 555
davide.aliprandi@st.com 4:f48e8d87553e 556 /**
davide.aliprandi@st.com 4:f48e8d87553e 557 * @brief Getting a parameter register value.
davide.aliprandi@st.com 4:f48e8d87553e 558 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 559 * @retval The parameter's register value.
davide.aliprandi@st.com 4:f48e8d87553e 560 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 561 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 562 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 563 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 564 * + POWERSTEP01_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 565 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 566 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 567 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 568 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 569 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 570 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 571 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 572 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 573 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 574 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 575 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 576 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 577 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 578 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 579 * (current mode) + POWERSTEP01_T_FAST
davide.aliprandi@st.com 4:f48e8d87553e 580 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 581 * (current mode) + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 582 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 583 * (current mode) + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 584 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 585 * + POWERSTEP01_ADC_OUT
davide.aliprandi@st.com 4:f48e8d87553e 586 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 587 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 588 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 589 * + POWERSTEP01_STEP_MODE
davide.aliprandi@st.com 4:f48e8d87553e 590 * + POWERSTEP01_ALARM_EN
davide.aliprandi@st.com 4:f48e8d87553e 591 * + POWERSTEP01_GATECFG1
davide.aliprandi@st.com 4:f48e8d87553e 592 * + POWERSTEP01_GATECFG2
davide.aliprandi@st.com 4:f48e8d87553e 593 * + POWERSTEP01_CONFIG
davide.aliprandi@st.com 4:f48e8d87553e 594 * + POWERSTEP01_STATUS
davide.aliprandi@st.com 4:f48e8d87553e 595 */
davide.aliprandi@st.com 4:f48e8d87553e 596 virtual unsigned int get_raw_parameter(unsigned int parameter)
davide.aliprandi@st.com 4:f48e8d87553e 597 {
davide.aliprandi@st.com 4:f48e8d87553e 598 return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
davide.aliprandi@st.com 4:f48e8d87553e 599 }
davide.aliprandi@st.com 4:f48e8d87553e 600
davide.aliprandi@st.com 4:f48e8d87553e 601 /**
davide.aliprandi@st.com 4:f48e8d87553e 602 * @brief Issues PowerStep01 Go Until command.
davide.aliprandi@st.com 4:f48e8d87553e 603 * @param action type of action to undertake when the SW
davide.aliprandi@st.com 4:f48e8d87553e 604 * input is forced high (ACTION_RESET or ACTION_COPY).
davide.aliprandi@st.com 4:f48e8d87553e 605 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 606 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 607 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 608 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 609 */
davide.aliprandi@st.com 4:f48e8d87553e 610 virtual void go_until(motorAction_t action, direction_t direction, float speed)
davide.aliprandi@st.com 4:f48e8d87553e 611 {
davide.aliprandi@st.com 4:f48e8d87553e 612 Powerstep01_CmdGoUntil(action,
davide.aliprandi@st.com 4:f48e8d87553e 613 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
davide.aliprandi@st.com 4:f48e8d87553e 614 speed_steps_s_to_reg_val(speed));
davide.aliprandi@st.com 4:f48e8d87553e 615 }
davide.aliprandi@st.com 4:f48e8d87553e 616
davide.aliprandi@st.com 4:f48e8d87553e 617 /**
davide.aliprandi@st.com 4:f48e8d87553e 618 * @brief Checks if the device is busy
davide.aliprandi@st.com 4:f48e8d87553e 619 * by reading the Busy flag bit ot its status Register
davide.aliprandi@st.com 4:f48e8d87553e 620 * This operation clears the status register
davide.aliprandi@st.com 4:f48e8d87553e 621 * @retval true if device is busy, false zero
davide.aliprandi@st.com 4:f48e8d87553e 622 */
davide.aliprandi@st.com 4:f48e8d87553e 623 virtual bool is_device_busy(void)
davide.aliprandi@st.com 4:f48e8d87553e 624 {
davide.aliprandi@st.com 4:f48e8d87553e 625 return Powerstep01_IsDeviceBusy();
davide.aliprandi@st.com 4:f48e8d87553e 626 }
davide.aliprandi@st.com 4:f48e8d87553e 627
davide.aliprandi@st.com 4:f48e8d87553e 628 /**
davide.aliprandi@st.com 4:f48e8d87553e 629 * @brief Put commands in queue before synchronous sending
davide.aliprandi@st.com 4:f48e8d87553e 630 * done by calling send_queued_commands.
davide.aliprandi@st.com 4:f48e8d87553e 631 * Any call to functions that use the SPI between the calls of
davide.aliprandi@st.com 4:f48e8d87553e 632 * queue_commands and send_queued_commands
davide.aliprandi@st.com 4:f48e8d87553e 633 * will corrupt the queue.
davide.aliprandi@st.com 4:f48e8d87553e 634 * A command for each device of the daisy chain must be
davide.aliprandi@st.com 4:f48e8d87553e 635 * specified before calling send_queued_commands.
davide.aliprandi@st.com 4:f48e8d87553e 636 * @param command Command to queue (all Powerstep01 commmands
davide.aliprandi@st.com 4:f48e8d87553e 637 * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
davide.aliprandi@st.com 4:f48e8d87553e 638 * POWERSTEP01_GET_STATUS).
davide.aliprandi@st.com 4:f48e8d87553e 639 * @param value argument of the command to queue.
davide.aliprandi@st.com 4:f48e8d87553e 640 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 641 */
davide.aliprandi@st.com 4:f48e8d87553e 642 virtual void queue_commands(uint8_t command, int32_t value)
davide.aliprandi@st.com 4:f48e8d87553e 643 {
davide.aliprandi@st.com 4:f48e8d87553e 644 Powerstep01_QueueCommands(command, value);
davide.aliprandi@st.com 4:f48e8d87553e 645 }
davide.aliprandi@st.com 4:f48e8d87553e 646
davide.aliprandi@st.com 4:f48e8d87553e 647 /**
davide.aliprandi@st.com 4:f48e8d87553e 648 * @brief Reading the Status Register.
davide.aliprandi@st.com 4:f48e8d87553e 649 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 650 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 651 * @note The Status Register's flags are not cleared, contrary to get_status().
davide.aliprandi@st.com 4:f48e8d87553e 652 */
davide.aliprandi@st.com 4:f48e8d87553e 653 virtual uint16_t read_status_register(void)
davide.aliprandi@st.com 4:f48e8d87553e 654 {
davide.aliprandi@st.com 4:f48e8d87553e 655 return Powerstep01_ReadStatusRegister();
davide.aliprandi@st.com 4:f48e8d87553e 656 }
davide.aliprandi@st.com 4:f48e8d87553e 657
davide.aliprandi@st.com 4:f48e8d87553e 658 /**
davide.aliprandi@st.com 4:f48e8d87553e 659 * @brief Issues PowerStep01 Release SW command.
davide.aliprandi@st.com 4:f48e8d87553e 660 * @param action type of action to undertake when the SW
davide.aliprandi@st.com 4:f48e8d87553e 661 * input is forced high (ACTION_RESET or ACTION_COPY).
davide.aliprandi@st.com 4:f48e8d87553e 662 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 663 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 664 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 665 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 666 */
davide.aliprandi@st.com 4:f48e8d87553e 667 virtual void release_sw(motorAction_t action, direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 668 {
davide.aliprandi@st.com 4:f48e8d87553e 669 Powerstep01_CmdReleaseSw(action,
davide.aliprandi@st.com 4:f48e8d87553e 670 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
davide.aliprandi@st.com 4:f48e8d87553e 671 }
davide.aliprandi@st.com 4:f48e8d87553e 672
davide.aliprandi@st.com 4:f48e8d87553e 673 /**
davide.aliprandi@st.com 4:f48e8d87553e 674 * @brief Issues PowerStep01 Reset Device command.
davide.aliprandi@st.com 4:f48e8d87553e 675 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 676 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 677 */
davide.aliprandi@st.com 4:f48e8d87553e 678 virtual void reset_command(void)
davide.aliprandi@st.com 4:f48e8d87553e 679 {
davide.aliprandi@st.com 4:f48e8d87553e 680 Powerstep01_CmdResetDevice();
davide.aliprandi@st.com 4:f48e8d87553e 681 }
davide.aliprandi@st.com 4:f48e8d87553e 682
davide.aliprandi@st.com 4:f48e8d87553e 683 /**
davide.aliprandi@st.com 4:f48e8d87553e 684 * @brief Issues PowerStep01 ResetPos command.
davide.aliprandi@st.com 4:f48e8d87553e 685 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 686 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 687 * @note Same effect as set_home().
davide.aliprandi@st.com 4:f48e8d87553e 688 */
davide.aliprandi@st.com 4:f48e8d87553e 689 virtual void reset_position(void)
davide.aliprandi@st.com 4:f48e8d87553e 690 {
davide.aliprandi@st.com 4:f48e8d87553e 691 Powerstep01_CmdResetPos();
davide.aliprandi@st.com 4:f48e8d87553e 692 }
nucleosam 0:00a3c3f5a8f0 693
davide.aliprandi@st.com 4:f48e8d87553e 694 /**
davide.aliprandi@st.com 4:f48e8d87553e 695 * @brief Running the motor towards a specified direction.
davide.aliprandi@st.com 4:f48e8d87553e 696 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 697 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 698 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 699 */
davide.aliprandi@st.com 4:f48e8d87553e 700 virtual void run(direction_t direction, float speed)
davide.aliprandi@st.com 4:f48e8d87553e 701 {
davide.aliprandi@st.com 4:f48e8d87553e 702 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), speed_steps_s_to_reg_val(speed));
davide.aliprandi@st.com 4:f48e8d87553e 703 }
davide.aliprandi@st.com 4:f48e8d87553e 704
davide.aliprandi@st.com 4:f48e8d87553e 705 /**
davide.aliprandi@st.com 4:f48e8d87553e 706 * @brief Sends commands stored previously in the queue by queue_commands.
davide.aliprandi@st.com 4:f48e8d87553e 707 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 708 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 709 */
davide.aliprandi@st.com 4:f48e8d87553e 710 virtual void send_queued_commands(void)
davide.aliprandi@st.com 4:f48e8d87553e 711 {
davide.aliprandi@st.com 4:f48e8d87553e 712 Powerstep01_SendQueuedCommands();
davide.aliprandi@st.com 4:f48e8d87553e 713 }
davide.aliprandi@st.com 4:f48e8d87553e 714
davide.aliprandi@st.com 4:f48e8d87553e 715 /**
davide.aliprandi@st.com 4:f48e8d87553e 716 * @brief Setting a parameter with an input float value.
davide.aliprandi@st.com 4:f48e8d87553e 717 * @param param Register adress.
davide.aliprandi@st.com 4:f48e8d87553e 718 * @param value Float value to convert and set into the register.
davide.aliprandi@st.com 4:f48e8d87553e 719 * @retval TRUE if param and value are valid, FALSE otherwise
davide.aliprandi@st.com 4:f48e8d87553e 720 * @note parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 721 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 722 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 723 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 724 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 725 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 726 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 727 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 728 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 729 * + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 730 * + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 731 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 732 * + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 733 * + POWERSTEP01_KVAL_HOLD
davide.aliprandi@st.com 4:f48e8d87553e 734 * + POWERSTEP01_KVAL_RUN
davide.aliprandi@st.com 4:f48e8d87553e 735 * + POWERSTEP01_KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 736 * + POWERSTEP01_KVAL_DEC
davide.aliprandi@st.com 4:f48e8d87553e 737 * + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 738 * + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 739 * + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 740 * + POWERSTEP01_TVAL_HOLD
davide.aliprandi@st.com 4:f48e8d87553e 741 * + POWERSTEP01_TVAL_RUN
davide.aliprandi@st.com 4:f48e8d87553e 742 * + POWERSTEP01_TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 743 * + POWERSTEP01_TVAL_DEC
davide.aliprandi@st.com 4:f48e8d87553e 744 * + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 745 * + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 746 */
davide.aliprandi@st.com 4:f48e8d87553e 747 virtual bool set_analog_value(unsigned int param, float value)
davide.aliprandi@st.com 4:f48e8d87553e 748 {
davide.aliprandi@st.com 4:f48e8d87553e 749 return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
davide.aliprandi@st.com 4:f48e8d87553e 750 }
davide.aliprandi@st.com 4:f48e8d87553e 751
davide.aliprandi@st.com 4:f48e8d87553e 752 /**
davide.aliprandi@st.com 4:f48e8d87553e 753 * @brief Setting a parameter.
davide.aliprandi@st.com 4:f48e8d87553e 754 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 755 * @param value The parameter's value.
davide.aliprandi@st.com 4:f48e8d87553e 756 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 757 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 758 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 759 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 760 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 761 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 762 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 763 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 764 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 765 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 766 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 767 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 768 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 769 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 770 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 771 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 772 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 773 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 774 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 775 * (current mode) + POWERSTEP01_T_FAST
davide.aliprandi@st.com 4:f48e8d87553e 776 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 777 * (current mode) + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 778 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 779 * (current mode) + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 780 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 781 * + POWERSTEP01_ADC_OUT
davide.aliprandi@st.com 4:f48e8d87553e 782 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 783 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 784 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 785 * + POWERSTEP01_STEP_MODE
davide.aliprandi@st.com 4:f48e8d87553e 786 * + POWERSTEP01_ALARM_EN
davide.aliprandi@st.com 4:f48e8d87553e 787 * + POWERSTEP01_GATECFG1
davide.aliprandi@st.com 4:f48e8d87553e 788 * + POWERSTEP01_GATECFG2
davide.aliprandi@st.com 4:f48e8d87553e 789 * + POWERSTEP01_CONFIG
davide.aliprandi@st.com 4:f48e8d87553e 790 */
davide.aliprandi@st.com 4:f48e8d87553e 791 virtual void set_raw_parameter(unsigned int parameter, unsigned int value)
davide.aliprandi@st.com 4:f48e8d87553e 792 {
davide.aliprandi@st.com 4:f48e8d87553e 793 Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
davide.aliprandi@st.com 4:f48e8d87553e 794 }
davide.aliprandi@st.com 4:f48e8d87553e 795
davide.aliprandi@st.com 4:f48e8d87553e 796 /**
davide.aliprandi@st.com 4:f48e8d87553e 797 * @brief Enable the step clock mode.
davide.aliprandi@st.com 4:f48e8d87553e 798 * @param frequency the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 799 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 800 */
davide.aliprandi@st.com 4:f48e8d87553e 801 virtual void step_clock_mode_enable(direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 802 {
davide.aliprandi@st.com 4:f48e8d87553e 803 Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
davide.aliprandi@st.com 4:f48e8d87553e 804 }
davide.aliprandi@st.com 4:f48e8d87553e 805
davide.aliprandi@st.com 4:f48e8d87553e 806 /**
davide.aliprandi@st.com 4:f48e8d87553e 807 * @brief Setting the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 808 * The frequency controls directly the speed of the device.
davide.aliprandi@st.com 4:f48e8d87553e 809 * @param frequency the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 810 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 811 */
davide.aliprandi@st.com 4:f48e8d87553e 812 virtual void step_clock_start(uint16_t frequency)
davide.aliprandi@st.com 4:f48e8d87553e 813 {
davide.aliprandi@st.com 4:f48e8d87553e 814 /* Computing the period of PWM. */
davide.aliprandi@st.com 4:f48e8d87553e 815 double period = 1.0f / frequency;
davide.aliprandi@st.com 4:f48e8d87553e 816
davide.aliprandi@st.com 4:f48e8d87553e 817 /* Setting the period and the duty-cycle of PWM. */
davide.aliprandi@st.com 4:f48e8d87553e 818 pwm.period(period);
davide.aliprandi@st.com 4:f48e8d87553e 819 pwm.write(0.5f);
davide.aliprandi@st.com 4:f48e8d87553e 820 }
davide.aliprandi@st.com 4:f48e8d87553e 821
davide.aliprandi@st.com 4:f48e8d87553e 822 /**
davide.aliprandi@st.com 4:f48e8d87553e 823 * @brief Stopping the PWM.
davide.aliprandi@st.com 4:f48e8d87553e 824 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 825 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 826 */
davide.aliprandi@st.com 4:f48e8d87553e 827 virtual void step_clock_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 828 {
davide.aliprandi@st.com 4:f48e8d87553e 829 pwm.write(0.0f);
davide.aliprandi@st.com 4:f48e8d87553e 830 }
davide.aliprandi@st.com 4:f48e8d87553e 831
davide.aliprandi@st.com 4:f48e8d87553e 832 /**
davide.aliprandi@st.com 4:f48e8d87553e 833 * @brief Public static functions
davide.aliprandi@st.com 4:f48e8d87553e 834 */
davide.aliprandi@st.com 4:f48e8d87553e 835
davide.aliprandi@st.com 4:f48e8d87553e 836 static uint8_t get_nb_devices(void)
davide.aliprandi@st.com 4:f48e8d87553e 837 {
davide.aliprandi@st.com 4:f48e8d87553e 838 return numberOfDevices;
davide.aliprandi@st.com 4:f48e8d87553e 839 }
davide.aliprandi@st.com 4:f48e8d87553e 840
davide.aliprandi@st.com 4:f48e8d87553e 841 /**
davide.aliprandi@st.com 4:f48e8d87553e 842 * @brief To and from register parameter conversion functions
davide.aliprandi@st.com 4:f48e8d87553e 843 */
davide.aliprandi@st.com 4:f48e8d87553e 844
davide.aliprandi@st.com 4:f48e8d87553e 845 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 846 * @brief Convert the float formatted acceleration or
davide.aliprandi@st.com 4:f48e8d87553e 847 * deceleration into respectively an ACC or DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 848 * @param[in] steps_s2 the acceleration or deceleration as
davide.aliprandi@st.com 4:f48e8d87553e 849 * steps/s^2, range 14.55 to 59590 steps/s^2
davide.aliprandi@st.com 4:f48e8d87553e 850 * @retval The acceleration or deceleration as steps/tick^2
davide.aliprandi@st.com 4:f48e8d87553e 851 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 852 static uint16_t acc_dec_steps_s2_to_reg_val(float steps_s2)
davide.aliprandi@st.com 4:f48e8d87553e 853 {
davide.aliprandi@st.com 4:f48e8d87553e 854 return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 855 }
davide.aliprandi@st.com 4:f48e8d87553e 856
davide.aliprandi@st.com 4:f48e8d87553e 857 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 858 * @brief Convert the ACC or DEC register value into step/s^2
davide.aliprandi@st.com 4:f48e8d87553e 859 * @param[in] regVal The ACC or DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 860 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 861 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 862 static float acc_dec_reg_val_to_steps_s2(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 863 {
davide.aliprandi@st.com 4:f48e8d87553e 864 return (((float)(regVal))*14.5519152283f);
davide.aliprandi@st.com 4:f48e8d87553e 865 }
davide.aliprandi@st.com 4:f48e8d87553e 866
davide.aliprandi@st.com 4:f48e8d87553e 867 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 868 * @brief Converts BEMF compensation slope to values for ST_SLP,
davide.aliprandi@st.com 4:f48e8d87553e 869 * FN_SLP_ACC or FN_SLP_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 870 * @param[in] percentage BEMF compensation slope percentage,
davide.aliprandi@st.com 4:f48e8d87553e 871 * range 0 to 0.4% (0.004) s/step
davide.aliprandi@st.com 4:f48e8d87553e 872 * @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 873 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 874 static uint8_t bemf_slope_perc_to_reg_val(float percentage)
davide.aliprandi@st.com 4:f48e8d87553e 875 {
davide.aliprandi@st.com 4:f48e8d87553e 876 return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 877 }
davide.aliprandi@st.com 4:f48e8d87553e 878
davide.aliprandi@st.com 4:f48e8d87553e 879 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 880 * @brief Converts values from ST_SLP, FN_SLP_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 881 * FN_SLP_DEC register to BEMF compensation slope percentage
davide.aliprandi@st.com 4:f48e8d87553e 882 * @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 883 * register value
davide.aliprandi@st.com 4:f48e8d87553e 884 * @retval BEMF compensation slope percentage
davide.aliprandi@st.com 4:f48e8d87553e 885 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 886 static float bemf_slope_reg_val_to_perc(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 887 {
davide.aliprandi@st.com 4:f48e8d87553e 888 return (((float)(regVal))*0.00156862745098f);
davide.aliprandi@st.com 4:f48e8d87553e 889 }
davide.aliprandi@st.com 4:f48e8d87553e 890
davide.aliprandi@st.com 4:f48e8d87553e 891 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 892 * @brief Convert the float formatted speed into a FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 893 * register value
davide.aliprandi@st.com 4:f48e8d87553e 894 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 895 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 896 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 897 static uint16_t fs_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 898 {
davide.aliprandi@st.com 4:f48e8d87553e 899 return ((uint16_t)((float)(steps_s)*0.065536f));
davide.aliprandi@st.com 4:f48e8d87553e 900 }
davide.aliprandi@st.com 4:f48e8d87553e 901
davide.aliprandi@st.com 4:f48e8d87553e 902 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 903 * @brief Convert the FS_SPD register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 904 * @param[in] regVal The FS_SPD register value
davide.aliprandi@st.com 4:f48e8d87553e 905 * @retval The full Step speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 906 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 907 static float fs_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 908 {
davide.aliprandi@st.com 4:f48e8d87553e 909 return (((float)regVal+0.999f)*15.258789f);
davide.aliprandi@st.com 4:f48e8d87553e 910 }
davide.aliprandi@st.com 4:f48e8d87553e 911
davide.aliprandi@st.com 4:f48e8d87553e 912 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 913 * @brief Convert the float formatted speed into a INT_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 914 * register value
davide.aliprandi@st.com 4:f48e8d87553e 915 * @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 916 * @retval The intersect speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 917 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 918 static uint16_t int_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 919 {
davide.aliprandi@st.com 4:f48e8d87553e 920 return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 921 }
davide.aliprandi@st.com 4:f48e8d87553e 922
davide.aliprandi@st.com 4:f48e8d87553e 923 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 924 * @brief Convert the INT_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 925 * @param[in] regVal The INT_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 926 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 927 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 928 static float int_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 929 {
davide.aliprandi@st.com 4:f48e8d87553e 930 return (((float)(regVal))*0.0596045f);
davide.aliprandi@st.com 4:f48e8d87553e 931 }
davide.aliprandi@st.com 4:f48e8d87553e 932
davide.aliprandi@st.com 4:f48e8d87553e 933 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 934 * @brief Convert the float formatted thermal compensation
davide.aliprandi@st.com 4:f48e8d87553e 935 * factor into a K_THERM register value
davide.aliprandi@st.com 4:f48e8d87553e 936 * @param[in] compFactor the float formatted thermal
davide.aliprandi@st.com 4:f48e8d87553e 937 * compensation factor, range 1 to 1.46875
davide.aliprandi@st.com 4:f48e8d87553e 938 * @retval value for K_THERM register
davide.aliprandi@st.com 4:f48e8d87553e 939 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 940 static uint8_t k_therm_comp_to_reg_val(float compFactor)
davide.aliprandi@st.com 4:f48e8d87553e 941 {
davide.aliprandi@st.com 4:f48e8d87553e 942 return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 943 }
davide.aliprandi@st.com 4:f48e8d87553e 944
davide.aliprandi@st.com 4:f48e8d87553e 945 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 946 * @brief Convert the K_THERM register value into a float
davide.aliprandi@st.com 4:f48e8d87553e 947 * formatted thermal compensation factor
davide.aliprandi@st.com 4:f48e8d87553e 948 * @param[in] regVal The K_THERM register value
davide.aliprandi@st.com 4:f48e8d87553e 949 * @retval The float formatted thermal compensation factor
davide.aliprandi@st.com 4:f48e8d87553e 950 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 951 static float k_therm_reg_val_to_comp(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 952 {
davide.aliprandi@st.com 4:f48e8d87553e 953 return (((float)(regVal))*0.03125f+1);
davide.aliprandi@st.com 4:f48e8d87553e 954 }
davide.aliprandi@st.com 4:f48e8d87553e 955
davide.aliprandi@st.com 4:f48e8d87553e 956 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 957 * @brief Converts voltage in percentage to values for KVAL_RUN,
davide.aliprandi@st.com 4:f48e8d87553e 958 * KVAL_HOLD, KVAL_ACC or KVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 959 * @param[in] percentage percentage of the power supply voltage
davide.aliprandi@st.com 4:f48e8d87553e 960 * applied to the motor windings, range 0.4% to 99.6%
davide.aliprandi@st.com 4:f48e8d87553e 961 * @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 962 * KVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 963 * @note The voltage applied is sinusoidal
davide.aliprandi@st.com 4:f48e8d87553e 964 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 965 static uint8_t k_val_perc_to_reg_val(float percentage)
davide.aliprandi@st.com 4:f48e8d87553e 966 {
davide.aliprandi@st.com 4:f48e8d87553e 967 return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 968 }
davide.aliprandi@st.com 4:f48e8d87553e 969
davide.aliprandi@st.com 4:f48e8d87553e 970 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 971 * @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 972 * or KVAL_DEC register to percentage
davide.aliprandi@st.com 4:f48e8d87553e 973 * @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 974 * or KVAL_DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 975 * @retval percentage of the power supply voltage applied to
davide.aliprandi@st.com 4:f48e8d87553e 976 * the motor windings
davide.aliprandi@st.com 4:f48e8d87553e 977 * @note The voltage applied is sinusoidal
davide.aliprandi@st.com 4:f48e8d87553e 978 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 979 static float k_val_reg_val_to_perc(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 980 {
davide.aliprandi@st.com 4:f48e8d87553e 981 return (((float)(regVal))*0.390625f);
davide.aliprandi@st.com 4:f48e8d87553e 982 }
davide.aliprandi@st.com 4:f48e8d87553e 983
davide.aliprandi@st.com 4:f48e8d87553e 984 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 985 * @brief Convert the float formatted speed into a MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 986 * register value
davide.aliprandi@st.com 4:f48e8d87553e 987 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 988 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 989 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 990 static uint16_t max_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 991 {
davide.aliprandi@st.com 4:f48e8d87553e 992 return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 993 }
davide.aliprandi@st.com 4:f48e8d87553e 994
davide.aliprandi@st.com 4:f48e8d87553e 995 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 996 * @brief Convert the MAX_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 997 * @param[in] regVal The MAX_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 998 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 999 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1000 static float max_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1001 {
davide.aliprandi@st.com 4:f48e8d87553e 1002 return (((float)(regVal))*15.258789f);
davide.aliprandi@st.com 4:f48e8d87553e 1003 }
davide.aliprandi@st.com 4:f48e8d87553e 1004
davide.aliprandi@st.com 4:f48e8d87553e 1005 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1006 * @brief Convert the float formatted speed into a MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 1007 * register value
davide.aliprandi@st.com 4:f48e8d87553e 1008 * @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1009 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 1010 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1011 static uint16_t min_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 1012 {
davide.aliprandi@st.com 4:f48e8d87553e 1013 return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1014 }
davide.aliprandi@st.com 4:f48e8d87553e 1015
davide.aliprandi@st.com 4:f48e8d87553e 1016 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1017 * @brief Convert the MIN_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 1018 * @param[in] regVal The MIN_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 1019 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1020 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1021 static float min_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1022 {
davide.aliprandi@st.com 4:f48e8d87553e 1023 return (((float)(regVal))*0.238418579f);
davide.aliprandi@st.com 4:f48e8d87553e 1024 }
davide.aliprandi@st.com 4:f48e8d87553e 1025
davide.aliprandi@st.com 4:f48e8d87553e 1026 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1027 * @brief Convert the float formatted speed into a SPEED
davide.aliprandi@st.com 4:f48e8d87553e 1028 * register value
davide.aliprandi@st.com 4:f48e8d87553e 1029 * @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1030 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 1031 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1032 static uint32_t speed_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 1033 {
davide.aliprandi@st.com 4:f48e8d87553e 1034 return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1035 }
davide.aliprandi@st.com 4:f48e8d87553e 1036
davide.aliprandi@st.com 4:f48e8d87553e 1037 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1038 * @brief Convert the SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 1039 * @param[in] regVal The SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 1040 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1041 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1042 static float speed_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1043 {
davide.aliprandi@st.com 4:f48e8d87553e 1044 return (((float)(regVal))*0.01490116119f);
davide.aliprandi@st.com 4:f48e8d87553e 1045 }
davide.aliprandi@st.com 4:f48e8d87553e 1046
davide.aliprandi@st.com 4:f48e8d87553e 1047 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1048 * @brief Converts STALL or OCD Threshold voltage in mV to
davide.aliprandi@st.com 4:f48e8d87553e 1049 * values for STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1050 * @param[in] mV voltage in mV, range 31.25mV to 1000mV
davide.aliprandi@st.com 4:f48e8d87553e 1051 * @retval value for STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1052 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1053 static uint8_t stall_ocd_th_to_reg_val(float mV)
davide.aliprandi@st.com 4:f48e8d87553e 1054 {
davide.aliprandi@st.com 4:f48e8d87553e 1055 return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1056 }
davide.aliprandi@st.com 4:f48e8d87553e 1057
davide.aliprandi@st.com 4:f48e8d87553e 1058 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1059 * @brief Converts values from STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1060 * to mV
davide.aliprandi@st.com 4:f48e8d87553e 1061 * @param[in] regVal The STALL_TH or OCD_TH register value
davide.aliprandi@st.com 4:f48e8d87553e 1062 * @retval voltage in mV
davide.aliprandi@st.com 4:f48e8d87553e 1063 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1064 static float stall_ocd_reg_val_to_th(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1065 {
davide.aliprandi@st.com 4:f48e8d87553e 1066 return (((float)(regVal+1))*31.25f);
davide.aliprandi@st.com 4:f48e8d87553e 1067 }
davide.aliprandi@st.com 4:f48e8d87553e 1068
davide.aliprandi@st.com 4:f48e8d87553e 1069 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1070 * @brief Converts voltage in mV to values for TVAL_RUN,
davide.aliprandi@st.com 4:f48e8d87553e 1071 * TVAL_HOLD, TVAL_ACC or TVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 1072 * @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
davide.aliprandi@st.com 4:f48e8d87553e 1073 * @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 1074 * TVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 1075 * @note The voltage corresponds to a peak output current
davide.aliprandi@st.com 4:f48e8d87553e 1076 * accross the external sense power resistor
davide.aliprandi@st.com 4:f48e8d87553e 1077 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1078 static uint8_t t_val_ref_voltage_to_reg_val(float voltage_mV)
davide.aliprandi@st.com 4:f48e8d87553e 1079 {
davide.aliprandi@st.com 4:f48e8d87553e 1080 return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1081 }
davide.aliprandi@st.com 4:f48e8d87553e 1082
davide.aliprandi@st.com 4:f48e8d87553e 1083 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1084 * @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 1085 * or TVAL_DEC register to mV
davide.aliprandi@st.com 4:f48e8d87553e 1086 * @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 1087 * or TVAL_DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 1088 * @retval voltage in mV
davide.aliprandi@st.com 4:f48e8d87553e 1089 * @note The voltage corresponds to a peak output current
davide.aliprandi@st.com 4:f48e8d87553e 1090 * accross the external sense power resistor
davide.aliprandi@st.com 4:f48e8d87553e 1091 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1092 static float t_val_reg_val_to_ref_voltage(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1093 {
davide.aliprandi@st.com 4:f48e8d87553e 1094 return (((float)(regVal+1))*7.8125f);
davide.aliprandi@st.com 4:f48e8d87553e 1095 }
davide.aliprandi@st.com 4:f48e8d87553e 1096
davide.aliprandi@st.com 4:f48e8d87553e 1097 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1098 * @brief Convert time in us to values for TON_MIN register
davide.aliprandi@st.com 4:f48e8d87553e 1099 * @param[in] tmin_us time in us, range 0.5us to 64us
davide.aliprandi@st.com 4:f48e8d87553e 1100 * @retval value for TON_MIN register
davide.aliprandi@st.com 4:f48e8d87553e 1101 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1102 static uint8_t t_min_time_to_reg_val(float tmin_us)
davide.aliprandi@st.com 4:f48e8d87553e 1103 {
davide.aliprandi@st.com 4:f48e8d87553e 1104 return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1105 }
davide.aliprandi@st.com 4:f48e8d87553e 1106
davide.aliprandi@st.com 4:f48e8d87553e 1107 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1108 * @brief Convert values for TON_MIN or TOFF_MIN register to time in us
davide.aliprandi@st.com 4:f48e8d87553e 1109 * @param[in] regVal The TON_MIN or TOFF_MIN register value
davide.aliprandi@st.com 4:f48e8d87553e 1110 * @retval time in us
davide.aliprandi@st.com 4:f48e8d87553e 1111 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1112 static float t_min_reg_val_to_time(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1113 {
davide.aliprandi@st.com 4:f48e8d87553e 1114 return (((float)(regVal+1))*0.5f);
davide.aliprandi@st.com 4:f48e8d87553e 1115 }
davide.aliprandi@st.com 4:f48e8d87553e 1116
davide.aliprandi@st.com 4:f48e8d87553e 1117 /*** Public Interrupt Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1118
davide.aliprandi@st.com 4:f48e8d87553e 1119 /* ACTION 6 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1120 * Implement here interrupt related methods, if any. *
davide.aliprandi@st.com 4:f48e8d87553e 1121 * Note that interrupt handling is platform dependent, e.g.: *
davide.aliprandi@st.com 4:f48e8d87553e 1122 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1123 * InterruptIn feature_irq(pin); //Interrupt object. *
davide.aliprandi@st.com 4:f48e8d87553e 1124 * feature_irq.rise(callback); //Attach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1125 * feature_irq.mode(PullNone); //Set interrupt mode. *
davide.aliprandi@st.com 4:f48e8d87553e 1126 * feature_irq.enable_irq(); //Enable interrupt. *
davide.aliprandi@st.com 4:f48e8d87553e 1127 * feature_irq.disable_irq(); //Disable interrupt. *
davide.aliprandi@st.com 4:f48e8d87553e 1128 * + Arduino: *
davide.aliprandi@st.com 4:f48e8d87553e 1129 * attachInterrupt(pin, callback, RISING); //Attach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1130 * detachInterrupt(pin); //Detach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1131 * *
davide.aliprandi@st.com 4:f48e8d87553e 1132 * Example (mbed): *
davide.aliprandi@st.com 4:f48e8d87553e 1133 * void attach_feature_irq(void (*fptr) (void)) *
davide.aliprandi@st.com 4:f48e8d87553e 1134 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1135 * feature_irq.rise(fptr); *
davide.aliprandi@st.com 4:f48e8d87553e 1136 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1137 * *
davide.aliprandi@st.com 4:f48e8d87553e 1138 * void enable_feature_irq(void) *
davide.aliprandi@st.com 4:f48e8d87553e 1139 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1140 * feature_irq.enable_irq(); *
davide.aliprandi@st.com 4:f48e8d87553e 1141 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1142 * *
davide.aliprandi@st.com 4:f48e8d87553e 1143 * void disable_feature_irq(void) *
davide.aliprandi@st.com 4:f48e8d87553e 1144 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1145 * feature_irq.disable_irq(); *
davide.aliprandi@st.com 4:f48e8d87553e 1146 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1147 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1148 /**
davide.aliprandi@st.com 4:f48e8d87553e 1149 * @brief Attaching an interrupt handler to the FLAG interrupt.
davide.aliprandi@st.com 4:f48e8d87553e 1150 * @param fptr An interrupt handler.
davide.aliprandi@st.com 4:f48e8d87553e 1151 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1152 */
davide.aliprandi@st.com 4:f48e8d87553e 1153 void attach_flag_irq(void (*fptr)(void))
davide.aliprandi@st.com 4:f48e8d87553e 1154 {
davide.aliprandi@st.com 4:f48e8d87553e 1155 flag_irq.fall(fptr);
davide.aliprandi@st.com 4:f48e8d87553e 1156 }
davide.aliprandi@st.com 4:f48e8d87553e 1157
davide.aliprandi@st.com 4:f48e8d87553e 1158 /**
davide.aliprandi@st.com 4:f48e8d87553e 1159 * @brief Enabling the FLAG interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1160 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1161 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1162 */
davide.aliprandi@st.com 4:f48e8d87553e 1163 void enable_flag_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1164 {
davide.aliprandi@st.com 4:f48e8d87553e 1165 flag_irq.enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1166 }
davide.aliprandi@st.com 4:f48e8d87553e 1167
davide.aliprandi@st.com 4:f48e8d87553e 1168 /**
davide.aliprandi@st.com 4:f48e8d87553e 1169 * @brief Disabling the FLAG interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1170 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1171 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1172 */
davide.aliprandi@st.com 4:f48e8d87553e 1173 void disable_flag_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1174 {
davide.aliprandi@st.com 4:f48e8d87553e 1175 flag_irq.disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1176 }
davide.aliprandi@st.com 4:f48e8d87553e 1177
davide.aliprandi@st.com 4:f48e8d87553e 1178 /**
davide.aliprandi@st.com 4:f48e8d87553e 1179 * @brief Attaching an interrupt handler to the BUSY interrupt.
davide.aliprandi@st.com 4:f48e8d87553e 1180 * @param fptr An interrupt handler.
davide.aliprandi@st.com 4:f48e8d87553e 1181 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1182 */
davide.aliprandi@st.com 4:f48e8d87553e 1183 void attach_busy_irq(void (*fptr)(void))
davide.aliprandi@st.com 4:f48e8d87553e 1184 {
davide.aliprandi@st.com 4:f48e8d87553e 1185 busy_irq.fall(fptr);
davide.aliprandi@st.com 4:f48e8d87553e 1186 }
davide.aliprandi@st.com 4:f48e8d87553e 1187
davide.aliprandi@st.com 4:f48e8d87553e 1188 /**
davide.aliprandi@st.com 4:f48e8d87553e 1189 * @brief Enabling the BUSY interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1190 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1191 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1192 */
davide.aliprandi@st.com 4:f48e8d87553e 1193 void enable_busy_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1194 {
davide.aliprandi@st.com 4:f48e8d87553e 1195 busy_irq.enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1196 }
davide.aliprandi@st.com 4:f48e8d87553e 1197
davide.aliprandi@st.com 4:f48e8d87553e 1198 /**
davide.aliprandi@st.com 4:f48e8d87553e 1199 * @brief Disabling the BUSY interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1200 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1201 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1202 */
davide.aliprandi@st.com 4:f48e8d87553e 1203 void disable_busy_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1204 {
davide.aliprandi@st.com 4:f48e8d87553e 1205 busy_irq.disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1206 }
davide.aliprandi@st.com 4:f48e8d87553e 1207
davide.aliprandi@st.com 4:f48e8d87553e 1208 protected:
davide.aliprandi@st.com 4:f48e8d87553e 1209
davide.aliprandi@st.com 4:f48e8d87553e 1210 /*** Protected Component Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1211
davide.aliprandi@st.com 4:f48e8d87553e 1212 /* ACTION 7 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1213 * Declare here the component's specific methods. *
davide.aliprandi@st.com 4:f48e8d87553e 1214 * They should be: *
davide.aliprandi@st.com 4:f48e8d87553e 1215 * + Methods with the same name of the C component's virtual table's *
davide.aliprandi@st.com 4:f48e8d87553e 1216 * functions (1); *
davide.aliprandi@st.com 4:f48e8d87553e 1217 * + Methods with the same name of the C component's extended virtual *
davide.aliprandi@st.com 4:f48e8d87553e 1218 * table's functions, if any (2); *
davide.aliprandi@st.com 4:f48e8d87553e 1219 * + Helper methods, if any, like functions declared in the component's *
davide.aliprandi@st.com 4:f48e8d87553e 1220 * source files but not pointed by the component's virtual table (3). *
davide.aliprandi@st.com 4:f48e8d87553e 1221 * *
davide.aliprandi@st.com 4:f48e8d87553e 1222 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1223 * status_t COMPONENT_get_value(float *f); //(1) *
davide.aliprandi@st.com 4:f48e8d87553e 1224 * status_t COMPONENT_enable_feature(void); //(2) *
davide.aliprandi@st.com 4:f48e8d87553e 1225 * status_t COMPONENT_compute_average(void); //(3) *
davide.aliprandi@st.com 4:f48e8d87553e 1226 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1227 status_t Powerstep01_Init(void *init);
davide.aliprandi@st.com 4:f48e8d87553e 1228 status_t Powerstep01_ReadID(uint8_t *id);
davide.aliprandi@st.com 4:f48e8d87553e 1229 void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
davide.aliprandi@st.com 4:f48e8d87553e 1230 uint8_t Powerstep01_CheckBusyHw(void);
davide.aliprandi@st.com 4:f48e8d87553e 1231 uint8_t Powerstep01_CheckStatusHw(void);
davide.aliprandi@st.com 4:f48e8d87553e 1232 uint16_t Powerstep01_CmdGetStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1233 void Powerstep01_CmdGoHome(void);
davide.aliprandi@st.com 4:f48e8d87553e 1234 void Powerstep01_CmdGoMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1235 void Powerstep01_CmdGoTo(int32_t targetPosition);
davide.aliprandi@st.com 4:f48e8d87553e 1236 void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
davide.aliprandi@st.com 4:f48e8d87553e 1237 void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
davide.aliprandi@st.com 4:f48e8d87553e 1238 void Powerstep01_CmdHardHiZ(void);
davide.aliprandi@st.com 4:f48e8d87553e 1239 void Powerstep01_CmdHardStop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1240 void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
davide.aliprandi@st.com 4:f48e8d87553e 1241 void Powerstep01_CmdNop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1242 void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
davide.aliprandi@st.com 4:f48e8d87553e 1243 void Powerstep01_CmdResetDevice(void);
davide.aliprandi@st.com 4:f48e8d87553e 1244 void Powerstep01_CmdResetPos(void);
davide.aliprandi@st.com 4:f48e8d87553e 1245 void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
davide.aliprandi@st.com 4:f48e8d87553e 1246 void Powerstep01_CmdSoftHiZ(void);
davide.aliprandi@st.com 4:f48e8d87553e 1247 void Powerstep01_CmdSoftStop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1248 void Powerstep01_CmdStepClock(motorDir_t direction);
davide.aliprandi@st.com 4:f48e8d87553e 1249 void Powerstep01_ErrorHandler(uint16_t error);
davide.aliprandi@st.com 4:f48e8d87553e 1250 void Powerstep01_FetchAndClearAllStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1251 uint16_t Powerstep01_GetFetchedStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1252 uint32_t Powerstep01_GetFwVersion(void);
davide.aliprandi@st.com 4:f48e8d87553e 1253 int32_t Powerstep01_GetMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1254 int32_t Powerstep01_GetPosition(void);
davide.aliprandi@st.com 4:f48e8d87553e 1255 bool Powerstep01_IsDeviceBusy(void);
davide.aliprandi@st.com 4:f48e8d87553e 1256 uint16_t Powerstep01_ReadStatusRegister(void);
davide.aliprandi@st.com 4:f48e8d87553e 1257 bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
davide.aliprandi@st.com 4:f48e8d87553e 1258 void Powerstep01_SetHome(void);
davide.aliprandi@st.com 4:f48e8d87553e 1259 void Powerstep01_SetMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1260 void Powerstep01_WaitForAllDevicesNotBusy(void);
davide.aliprandi@st.com 4:f48e8d87553e 1261 void Powerstep01_WaitWhileActive(void);
davide.aliprandi@st.com 4:f48e8d87553e 1262
davide.aliprandi@st.com 4:f48e8d87553e 1263 /**
davide.aliprandi@st.com 4:f48e8d87553e 1264 * @brief To and from register parameter conversion functions
davide.aliprandi@st.com 4:f48e8d87553e 1265 */
davide.aliprandi@st.com 4:f48e8d87553e 1266 int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
davide.aliprandi@st.com 4:f48e8d87553e 1267
davide.aliprandi@st.com 4:f48e8d87553e 1268 /**
davide.aliprandi@st.com 4:f48e8d87553e 1269 * @brief Functions to initialize the registers
davide.aliprandi@st.com 4:f48e8d87553e 1270 */
davide.aliprandi@st.com 4:f48e8d87553e 1271 void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_init_u_t *initPrm);
davide.aliprandi@st.com 4:f48e8d87553e 1272 void Powerstep01_SetRegisterToPredefinedValues(void);
davide.aliprandi@st.com 4:f48e8d87553e 1273
davide.aliprandi@st.com 4:f48e8d87553e 1274 /**
davide.aliprandi@st.com 4:f48e8d87553e 1275 * @brief Functions to get and set parameters using digital or analog values
davide.aliprandi@st.com 4:f48e8d87553e 1276 */
davide.aliprandi@st.com 4:f48e8d87553e 1277 uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
davide.aliprandi@st.com 4:f48e8d87553e 1278 void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1279 float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
davide.aliprandi@st.com 4:f48e8d87553e 1280 void Powerstep01_QueueCommands(uint8_t command, int32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1281 void Powerstep01_SendCommand(uint8_t command, uint32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1282 void Powerstep01_SendQueuedCommands(void);
davide.aliprandi@st.com 4:f48e8d87553e 1283 bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
davide.aliprandi@st.com 4:f48e8d87553e 1284 void Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
davide.aliprandi@st.com 4:f48e8d87553e 1285
davide.aliprandi@st.com 4:f48e8d87553e 1286 /**
davide.aliprandi@st.com 4:f48e8d87553e 1287 * @brief Rounding a floating point number to the nearest unsigned integer number.
davide.aliprandi@st.com 4:f48e8d87553e 1288 * @param f The floating point number.
davide.aliprandi@st.com 4:f48e8d87553e 1289 * @retval The nearest unsigned integer number.
davide.aliprandi@st.com 4:f48e8d87553e 1290 */
davide.aliprandi@st.com 4:f48e8d87553e 1291 int round(float f)
davide.aliprandi@st.com 4:f48e8d87553e 1292 {
davide.aliprandi@st.com 4:f48e8d87553e 1293 if (f >= 0)
davide.aliprandi@st.com 4:f48e8d87553e 1294 return (int) f + (f - (int) f < 0.5f ? 0 : 1);
davide.aliprandi@st.com 4:f48e8d87553e 1295 else
davide.aliprandi@st.com 4:f48e8d87553e 1296 return (int) f - (f - (int) f < -0.5f ? 1 : 0);
davide.aliprandi@st.com 4:f48e8d87553e 1297 }
davide.aliprandi@st.com 4:f48e8d87553e 1298
davide.aliprandi@st.com 4:f48e8d87553e 1299 /*** Component's I/O Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1300
davide.aliprandi@st.com 4:f48e8d87553e 1301 /**
davide.aliprandi@st.com 4:f48e8d87553e 1302 * @brief Utility function to read data from Powerstep01.
davide.aliprandi@st.com 4:f48e8d87553e 1303 * @param[out] pBuffer pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1304 * @param NumBytesToRead number of bytes to read.
davide.aliprandi@st.com 4:f48e8d87553e 1305 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1306 */
davide.aliprandi@st.com 4:f48e8d87553e 1307 status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
davide.aliprandi@st.com 4:f48e8d87553e 1308 {
davide.aliprandi@st.com 4:f48e8d87553e 1309 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0)
davide.aliprandi@st.com 4:f48e8d87553e 1310 return COMPONENT_ERROR;
davide.aliprandi@st.com 4:f48e8d87553e 1311 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1312 }
davide.aliprandi@st.com 4:f48e8d87553e 1313
davide.aliprandi@st.com 4:f48e8d87553e 1314 /**
davide.aliprandi@st.com 4:f48e8d87553e 1315 * @brief Utility function to write data to Powerstep01.
davide.aliprandi@st.com 4:f48e8d87553e 1316 * @param pBuffer pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1317 * @param NumBytesToWrite number of bytes to write.
davide.aliprandi@st.com 4:f48e8d87553e 1318 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1319 */
davide.aliprandi@st.com 4:f48e8d87553e 1320 status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
davide.aliprandi@st.com 4:f48e8d87553e 1321 {
davide.aliprandi@st.com 4:f48e8d87553e 1322 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0)
davide.aliprandi@st.com 4:f48e8d87553e 1323 return COMPONENT_ERROR;
davide.aliprandi@st.com 4:f48e8d87553e 1324 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1325 }
davide.aliprandi@st.com 4:f48e8d87553e 1326
davide.aliprandi@st.com 4:f48e8d87553e 1327 /**
davide.aliprandi@st.com 4:f48e8d87553e 1328 * @brief Utility function to read and write data from/to Powerstep01 at the same time.
davide.aliprandi@st.com 4:f48e8d87553e 1329 * @param[out] pBufferToRead pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1330 * @param pBufferToWrite pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1331 * @param NumBytes number of bytes to read and write.
davide.aliprandi@st.com 4:f48e8d87553e 1332 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1333 */
davide.aliprandi@st.com 4:f48e8d87553e 1334 status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
davide.aliprandi@st.com 4:f48e8d87553e 1335 {
davide.aliprandi@st.com 4:f48e8d87553e 1336 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0)
davide.aliprandi@st.com 4:f48e8d87553e 1337 return COMPONENT_ERROR;
davide.aliprandi@st.com 4:f48e8d87553e 1338 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1339 }
davide.aliprandi@st.com 4:f48e8d87553e 1340
davide.aliprandi@st.com 4:f48e8d87553e 1341 /* ACTION 8 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1342 * Implement here other I/O methods beyond those already implemented *
davide.aliprandi@st.com 4:f48e8d87553e 1343 * above, which are declared extern within the component's header file. *
davide.aliprandi@st.com 4:f48e8d87553e 1344 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1345 /**
davide.aliprandi@st.com 4:f48e8d87553e 1346 * @brief Making the CPU wait.
davide.aliprandi@st.com 4:f48e8d87553e 1347 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1348 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1349 */
davide.aliprandi@st.com 4:f48e8d87553e 1350 void Powerstep01_Board_Delay(uint32_t delay)
davide.aliprandi@st.com 4:f48e8d87553e 1351 {
davide.aliprandi@st.com 4:f48e8d87553e 1352 wait_ms(delay);
davide.aliprandi@st.com 4:f48e8d87553e 1353 }
davide.aliprandi@st.com 4:f48e8d87553e 1354
davide.aliprandi@st.com 4:f48e8d87553e 1355 /**
davide.aliprandi@st.com 4:f48e8d87553e 1356 * @brief Enabling interrupts.
davide.aliprandi@st.com 4:f48e8d87553e 1357 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1358 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1359 */
davide.aliprandi@st.com 4:f48e8d87553e 1360 void Powerstep01_Board_EnableIrq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1361 {
davide.aliprandi@st.com 4:f48e8d87553e 1362 __enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1363 }
davide.aliprandi@st.com 4:f48e8d87553e 1364
davide.aliprandi@st.com 4:f48e8d87553e 1365 /**
davide.aliprandi@st.com 4:f48e8d87553e 1366 * @brief Disabling interrupts.
davide.aliprandi@st.com 4:f48e8d87553e 1367 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1368 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1369 */
davide.aliprandi@st.com 4:f48e8d87553e 1370 void Powerstep01_Board_DisableIrq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1371 {
davide.aliprandi@st.com 4:f48e8d87553e 1372 __disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1373 }
davide.aliprandi@st.com 4:f48e8d87553e 1374
davide.aliprandi@st.com 4:f48e8d87553e 1375 /**
davide.aliprandi@st.com 4:f48e8d87553e 1376 * @brief Initialising the PWM.
davide.aliprandi@st.com 4:f48e8d87553e 1377 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1378 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1379 */
davide.aliprandi@st.com 4:f48e8d87553e 1380 void Powerstep01_Board_StepClockInit(void) {}
davide.aliprandi@st.com 4:f48e8d87553e 1381
davide.aliprandi@st.com 4:f48e8d87553e 1382 /**
davide.aliprandi@st.com 4:f48e8d87553e 1383 * @brief Exit the device from reset mode.
davide.aliprandi@st.com 4:f48e8d87553e 1384 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1385 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1386 */
Davidroid 5:e7dca8c6ae9f 1387 void Powerstep01_Board_ReleaseReset(void)
davide.aliprandi@st.com 4:f48e8d87553e 1388 {
davide.aliprandi@st.com 4:f48e8d87553e 1389 standby_reset = 1;
davide.aliprandi@st.com 4:f48e8d87553e 1390 }
davide.aliprandi@st.com 4:f48e8d87553e 1391
davide.aliprandi@st.com 4:f48e8d87553e 1392 /**
davide.aliprandi@st.com 4:f48e8d87553e 1393 * @brief Put the device in reset mode.
davide.aliprandi@st.com 4:f48e8d87553e 1394 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1395 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1396 */
davide.aliprandi@st.com 4:f48e8d87553e 1397 void Powerstep01_Board_reset(void)
davide.aliprandi@st.com 4:f48e8d87553e 1398 {
davide.aliprandi@st.com 4:f48e8d87553e 1399 standby_reset = 0;
davide.aliprandi@st.com 4:f48e8d87553e 1400 }
davide.aliprandi@st.com 4:f48e8d87553e 1401
davide.aliprandi@st.com 4:f48e8d87553e 1402 /**
davide.aliprandi@st.com 4:f48e8d87553e 1403 * @brief Writing and reading bytes to/from the component through the SPI at the same time.
davide.aliprandi@st.com 4:f48e8d87553e 1404 * @param pByteToTransmit pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1405 * @param[out] pReceivedByte pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1406 * @retval "0" in case of success, "1" otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1407 */
davide.aliprandi@st.com 4:f48e8d87553e 1408 uint8_t Powerstep01_Board_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
davide.aliprandi@st.com 4:f48e8d87553e 1409 {
davide.aliprandi@st.com 4:f48e8d87553e 1410 return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1);
davide.aliprandi@st.com 4:f48e8d87553e 1411 }
nucleosam 0:00a3c3f5a8f0 1412
nucleosam 0:00a3c3f5a8f0 1413
davide.aliprandi@st.com 4:f48e8d87553e 1414 /*** Component's Instance Variables ***/
nucleosam 0:00a3c3f5a8f0 1415
davide.aliprandi@st.com 4:f48e8d87553e 1416 /* ACTION 9 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1417 * Declare here interrupt related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1418 * Note that interrupt handling is platform dependent, see *
davide.aliprandi@st.com 4:f48e8d87553e 1419 * "Interrupt Related Methods" above. *
davide.aliprandi@st.com 4:f48e8d87553e 1420 * *
davide.aliprandi@st.com 4:f48e8d87553e 1421 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1422 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1423 * InterruptIn feature_irq; *
davide.aliprandi@st.com 4:f48e8d87553e 1424 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1425 /* Flag Interrupt. */
davide.aliprandi@st.com 4:f48e8d87553e 1426 InterruptIn flag_irq;
davide.aliprandi@st.com 4:f48e8d87553e 1427
davide.aliprandi@st.com 4:f48e8d87553e 1428 /* Busy Interrupt. */
davide.aliprandi@st.com 4:f48e8d87553e 1429 InterruptIn busy_irq;
davide.aliprandi@st.com 4:f48e8d87553e 1430
davide.aliprandi@st.com 4:f48e8d87553e 1431 /* ACTION 10 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1432 * Declare here other pin related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1433 * *
davide.aliprandi@st.com 4:f48e8d87553e 1434 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1435 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1436 * DigitalOut standby_reset; *
davide.aliprandi@st.com 4:f48e8d87553e 1437 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1438 /* Standby/reset pin. */
davide.aliprandi@st.com 4:f48e8d87553e 1439 DigitalOut standby_reset;
davide.aliprandi@st.com 4:f48e8d87553e 1440
davide.aliprandi@st.com 4:f48e8d87553e 1441 /* Pulse Width Modulation pin. */
davide.aliprandi@st.com 4:f48e8d87553e 1442 PwmOut pwm;
nucleosam 0:00a3c3f5a8f0 1443
davide.aliprandi@st.com 4:f48e8d87553e 1444 /* ACTION 11 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1445 * Declare here communication related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1446 * *
davide.aliprandi@st.com 4:f48e8d87553e 1447 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1448 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1449 * DigitalOut ssel; *
davide.aliprandi@st.com 4:f48e8d87553e 1450 * DevSPI &dev_spi; *
davide.aliprandi@st.com 4:f48e8d87553e 1451 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1452 /* Configuration. */
davide.aliprandi@st.com 4:f48e8d87553e 1453 DigitalOut ssel;
davide.aliprandi@st.com 4:f48e8d87553e 1454
davide.aliprandi@st.com 4:f48e8d87553e 1455 /* IO Device. */
davide.aliprandi@st.com 4:f48e8d87553e 1456 DevSPI &dev_spi;
davide.aliprandi@st.com 4:f48e8d87553e 1457
davide.aliprandi@st.com 4:f48e8d87553e 1458 /* ACTION 12 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1459 * Declare here identity related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1460 * Note that there should be only a unique identifier for each component, *
davide.aliprandi@st.com 4:f48e8d87553e 1461 * which should be the "who_am_i" parameter. *
davide.aliprandi@st.com 4:f48e8d87553e 1462 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1463 /* Identity */
davide.aliprandi@st.com 4:f48e8d87553e 1464 uint8_t who_am_i;
nucleosam 0:00a3c3f5a8f0 1465
davide.aliprandi@st.com 4:f48e8d87553e 1466 /* ACTION 13 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1467 * Declare here the component's static and non-static data, one variable *
davide.aliprandi@st.com 4:f48e8d87553e 1468 * per line. *
davide.aliprandi@st.com 4:f48e8d87553e 1469 * *
davide.aliprandi@st.com 4:f48e8d87553e 1470 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1471 * float measure; *
davide.aliprandi@st.com 4:f48e8d87553e 1472 * int instance_id; *
davide.aliprandi@st.com 4:f48e8d87553e 1473 * static int number_of_instances; *
davide.aliprandi@st.com 4:f48e8d87553e 1474 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1475 /* Data. */
davide.aliprandi@st.com 4:f48e8d87553e 1476 void (*errorHandlerCallback)(uint16_t error);
davide.aliprandi@st.com 4:f48e8d87553e 1477 uint8_t deviceInstance;
nucleosam 0:00a3c3f5a8f0 1478
davide.aliprandi@st.com 4:f48e8d87553e 1479 /* Static data. */
davide.aliprandi@st.com 4:f48e8d87553e 1480 static uint8_t numberOfDevices;
davide.aliprandi@st.com 4:f48e8d87553e 1481 static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 4:f48e8d87553e 1482 static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 4:f48e8d87553e 1483
davide.aliprandi@st.com 4:f48e8d87553e 1484
davide.aliprandi@st.com 4:f48e8d87553e 1485 public:
davide.aliprandi@st.com 4:f48e8d87553e 1486
davide.aliprandi@st.com 4:f48e8d87553e 1487 /* Static data. */
davide.aliprandi@st.com 4:f48e8d87553e 1488 static bool spiPreemptionByIsr;
davide.aliprandi@st.com 4:f48e8d87553e 1489 static bool isrFlag;
davide.aliprandi@st.com 4:f48e8d87553e 1490
davide.aliprandi@st.com 4:f48e8d87553e 1491 };
davide.aliprandi@st.com 4:f48e8d87553e 1492
davide.aliprandi@st.com 4:f48e8d87553e 1493 #endif // __POWERSTEP01_CLASS_H
nucleosam 0:00a3c3f5a8f0 1494
nucleosam 0:00a3c3f5a8f0 1495 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/