Neri Tiziano / X_NUCLEO_IHM03A1_for

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Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Components/PowerStep01/PowerStep01.h@7:9d772e2a9dbe, 2017-07-14 (annotated)

Committer:
Davidroid
Date:
Fri Jul 14 12:51:38 2017 +0000
Revision:
7:9d772e2a9dbe
Parent:
6:7af3838de91a 
Aligning 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. */
Davidroid 7:9d772e2a9dbe 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);
Davidroid 7:9d772e2a9dbe 92 }
davide.aliprandi@st.com 4:f48e8d87553e 93
davide.aliprandi@st.com 4:f48e8d87553e 94 /* ACTION 4 ----------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 95 * Initialize here the component's member variables, one variable per *
davide.aliprandi@st.com 4:f48e8d87553e 96 * line. *
davide.aliprandi@st.com 4:f48e8d87553e 97 * *
davide.aliprandi@st.com 4:f48e8d87553e 98 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 99 * measure = 0; *
davide.aliprandi@st.com 4:f48e8d87553e 100 * instance_id = number_of_instances++; *
davide.aliprandi@st.com 4:f48e8d87553e 101 *--------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 102 errorHandlerCallback = 0;
davide.aliprandi@st.com 4:f48e8d87553e 103 deviceInstance = numberOfDevices++;
davide.aliprandi@st.com 4:f48e8d87553e 104 memset(spiTxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
davide.aliprandi@st.com 4:f48e8d87553e 105 memset(spiRxBursts, 0, POWERSTEP01_CMD_ARG_MAX_NB_BYTES * MAX_NUMBER_OF_DEVICES * sizeof(uint8_t));
davide.aliprandi@st.com 4:f48e8d87553e 106 }
davide.aliprandi@st.com 4:f48e8d87553e 107
davide.aliprandi@st.com 4:f48e8d87553e 108 /**
davide.aliprandi@st.com 4:f48e8d87553e 109 * @brief Destructor.
davide.aliprandi@st.com 4:f48e8d87553e 110 */
davide.aliprandi@st.com 4:f48e8d87553e 111 virtual ~PowerStep01(void) {}
davide.aliprandi@st.com 4:f48e8d87553e 112
davide.aliprandi@st.com 4:f48e8d87553e 113
davide.aliprandi@st.com 4:f48e8d87553e 114 /*** Public Component Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 115
davide.aliprandi@st.com 4:f48e8d87553e 116 /* ACTION 5 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 117 * Implement here the component's public methods, as wrappers of the C *
davide.aliprandi@st.com 4:f48e8d87553e 118 * component's functions. *
davide.aliprandi@st.com 4:f48e8d87553e 119 * They should be: *
davide.aliprandi@st.com 4:f48e8d87553e 120 * + Methods with the same name of the C component's virtual table's *
davide.aliprandi@st.com 4:f48e8d87553e 121 * functions (1); *
davide.aliprandi@st.com 4:f48e8d87553e 122 * + Methods with the same name of the C component's extended virtual *
davide.aliprandi@st.com 4:f48e8d87553e 123 * table's functions, if any (2). *
davide.aliprandi@st.com 4:f48e8d87553e 124 * *
davide.aliprandi@st.com 4:f48e8d87553e 125 * Example: *
Davidroid 6:7af3838de91a 126 * virtual int get_value(float *pData) //(1) *
davide.aliprandi@st.com 4:f48e8d87553e 127 * { *
Davidroid 6:7af3838de91a 128 * return COMPONENT_get_value(float *pfData); *
davide.aliprandi@st.com 4:f48e8d87553e 129 * } *
davide.aliprandi@st.com 4:f48e8d87553e 130 * *
Davidroid 6:7af3838de91a 131 * virtual int enable_feature(void) //(2) *
davide.aliprandi@st.com 4:f48e8d87553e 132 * { *
Davidroid 6:7af3838de91a 133 * return COMPONENT_enable_feature(); *
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 /**
davide.aliprandi@st.com 4:f48e8d87553e 138 * @brief Public functions inherited from the Component Class
davide.aliprandi@st.com 4:f48e8d87553e 139 */
davide.aliprandi@st.com 4:f48e8d87553e 140
davide.aliprandi@st.com 4:f48e8d87553e 141 /**
davide.aliprandi@st.com 4:f48e8d87553e 142 * @brief Initialize the component.
davide.aliprandi@st.com 4:f48e8d87553e 143 * @param init Pointer to device specific initalization structure.
davide.aliprandi@st.com 4:f48e8d87553e 144 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 145 */
davide.aliprandi@st.com 4:f48e8d87553e 146 virtual int init(void *init = NULL)
davide.aliprandi@st.com 4:f48e8d87553e 147 {
davide.aliprandi@st.com 4:f48e8d87553e 148 return (int) Powerstep01_Init((void *) init);
davide.aliprandi@st.com 4:f48e8d87553e 149 }
davide.aliprandi@st.com 4:f48e8d87553e 150
davide.aliprandi@st.com 4:f48e8d87553e 151 /**
davide.aliprandi@st.com 4:f48e8d87553e 152 * @brief Getting the ID of the component.
davide.aliprandi@st.com 4:f48e8d87553e 153 * @param id Pointer to an allocated variable to store the ID into.
davide.aliprandi@st.com 4:f48e8d87553e 154 * @retval "0" in case of success, an error code otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 155 */
davide.aliprandi@st.com 4:f48e8d87553e 156 virtual int read_id(uint8_t *id = NULL)
davide.aliprandi@st.com 4:f48e8d87553e 157 {
davide.aliprandi@st.com 4:f48e8d87553e 158 return (int) Powerstep01_ReadID((uint8_t *) id);
davide.aliprandi@st.com 4:f48e8d87553e 159 }
davide.aliprandi@st.com 4:f48e8d87553e 160
davide.aliprandi@st.com 4:f48e8d87553e 161 /**
davide.aliprandi@st.com 4:f48e8d87553e 162 * @brief Public functions inherited from the StepperMotor Class
davide.aliprandi@st.com 4:f48e8d87553e 163 */
davide.aliprandi@st.com 4:f48e8d87553e 164
davide.aliprandi@st.com 4:f48e8d87553e 165 /**
davide.aliprandi@st.com 4:f48e8d87553e 166 * @brief Getting the value of the Status Register.
davide.aliprandi@st.com 4:f48e8d87553e 167 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 168 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 169 * @note The Status Register's flags are cleared, contrary to read_status_register().
davide.aliprandi@st.com 4:f48e8d87553e 170 */
davide.aliprandi@st.com 4:f48e8d87553e 171 virtual unsigned int get_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 172 {
davide.aliprandi@st.com 4:f48e8d87553e 173 return (unsigned int) Powerstep01_CmdGetStatus();
davide.aliprandi@st.com 4:f48e8d87553e 174 }
davide.aliprandi@st.com 4:f48e8d87553e 175
davide.aliprandi@st.com 4:f48e8d87553e 176 /**
davide.aliprandi@st.com 4:f48e8d87553e 177 * @brief Getting the position.
davide.aliprandi@st.com 4:f48e8d87553e 178 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 179 * @retval The position.
davide.aliprandi@st.com 4:f48e8d87553e 180 */
davide.aliprandi@st.com 4:f48e8d87553e 181 virtual signed int get_position(void)
davide.aliprandi@st.com 4:f48e8d87553e 182 {
davide.aliprandi@st.com 4:f48e8d87553e 183 return (signed int)Powerstep01_GetPosition();
davide.aliprandi@st.com 4:f48e8d87553e 184 }
davide.aliprandi@st.com 4:f48e8d87553e 185
davide.aliprandi@st.com 4:f48e8d87553e 186 /**
davide.aliprandi@st.com 4:f48e8d87553e 187 * @brief Getting the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 188 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 189 * @retval The marked position.
davide.aliprandi@st.com 4:f48e8d87553e 190 */
davide.aliprandi@st.com 4:f48e8d87553e 191 virtual signed int get_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 192 {
davide.aliprandi@st.com 4:f48e8d87553e 193 return (signed int)Powerstep01_GetMark();
davide.aliprandi@st.com 4:f48e8d87553e 194 }
davide.aliprandi@st.com 4:f48e8d87553e 195
davide.aliprandi@st.com 4:f48e8d87553e 196 /**
davide.aliprandi@st.com 4:f48e8d87553e 197 * @brief Getting the current speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 198 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 199 * @retval The current speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 200 */
davide.aliprandi@st.com 4:f48e8d87553e 201 virtual unsigned int get_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 202 {
davide.aliprandi@st.com 4:f48e8d87553e 203 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 204 }
davide.aliprandi@st.com 4:f48e8d87553e 205
davide.aliprandi@st.com 4:f48e8d87553e 206 /**
davide.aliprandi@st.com 4:f48e8d87553e 207 * @brief Getting the maximum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 208 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 209 * @retval The maximum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 210 */
davide.aliprandi@st.com 4:f48e8d87553e 211 virtual unsigned int get_max_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 212 {
davide.aliprandi@st.com 4:f48e8d87553e 213 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MAX_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 214 }
davide.aliprandi@st.com 4:f48e8d87553e 215
davide.aliprandi@st.com 4:f48e8d87553e 216 /**
davide.aliprandi@st.com 4:f48e8d87553e 217 * @brief Getting the minimum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 218 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 219 * @retval The minimum speed in step/s.
davide.aliprandi@st.com 4:f48e8d87553e 220 */
davide.aliprandi@st.com 4:f48e8d87553e 221 virtual unsigned int get_min_speed(void)
davide.aliprandi@st.com 4:f48e8d87553e 222 {
davide.aliprandi@st.com 4:f48e8d87553e 223 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_MIN_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 224 }
davide.aliprandi@st.com 4:f48e8d87553e 225
davide.aliprandi@st.com 4:f48e8d87553e 226 /**
davide.aliprandi@st.com 4:f48e8d87553e 227 * @brief Getting the acceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 228 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 229 * @retval The acceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 230 */
davide.aliprandi@st.com 4:f48e8d87553e 231 virtual unsigned int get_acceleration(void)
davide.aliprandi@st.com 4:f48e8d87553e 232 {
davide.aliprandi@st.com 4:f48e8d87553e 233 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_ACC));
davide.aliprandi@st.com 4:f48e8d87553e 234 }
davide.aliprandi@st.com 4:f48e8d87553e 235
davide.aliprandi@st.com 4:f48e8d87553e 236 /**
davide.aliprandi@st.com 4:f48e8d87553e 237 * @brief Getting the deceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 238 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 239 * @retval The deceleration in step/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 240 */
davide.aliprandi@st.com 4:f48e8d87553e 241 virtual unsigned int get_deceleration(void)
davide.aliprandi@st.com 4:f48e8d87553e 242 {
davide.aliprandi@st.com 4:f48e8d87553e 243 return (unsigned int)round(Powerstep01_GetAnalogValue(POWERSTEP01_DEC));
davide.aliprandi@st.com 4:f48e8d87553e 244 }
davide.aliprandi@st.com 4:f48e8d87553e 245
davide.aliprandi@st.com 4:f48e8d87553e 246 /**
davide.aliprandi@st.com 4:f48e8d87553e 247 * @brief Getting the direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 248 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 249 * @retval The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 250 */
davide.aliprandi@st.com 4:f48e8d87553e 251 virtual direction_t get_direction(void)
davide.aliprandi@st.com 4:f48e8d87553e 252 {
davide.aliprandi@st.com 4:f48e8d87553e 253 if ((POWERSTEP01_STATUS_DIR&Powerstep01_ReadStatusRegister())!=0)
davide.aliprandi@st.com 4:f48e8d87553e 254 {
davide.aliprandi@st.com 4:f48e8d87553e 255 return FWD;
davide.aliprandi@st.com 4:f48e8d87553e 256 }
davide.aliprandi@st.com 4:f48e8d87553e 257 else
davide.aliprandi@st.com 4:f48e8d87553e 258 {
davide.aliprandi@st.com 4:f48e8d87553e 259 return BWD;
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 /**
davide.aliprandi@st.com 4:f48e8d87553e 264 * @brief Setting the current position to be the home position.
davide.aliprandi@st.com 4:f48e8d87553e 265 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 266 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 267 */
davide.aliprandi@st.com 4:f48e8d87553e 268 virtual void set_home(void)
davide.aliprandi@st.com 4:f48e8d87553e 269 {
davide.aliprandi@st.com 4:f48e8d87553e 270 Powerstep01_SetHome();
davide.aliprandi@st.com 4:f48e8d87553e 271 }
davide.aliprandi@st.com 4:f48e8d87553e 272
davide.aliprandi@st.com 4:f48e8d87553e 273 /**
davide.aliprandi@st.com 4:f48e8d87553e 274 * @brief Setting the current position to be the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 275 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 276 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 277 */
davide.aliprandi@st.com 4:f48e8d87553e 278 virtual void set_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 279 {
davide.aliprandi@st.com 4:f48e8d87553e 280 Powerstep01_SetMark();
davide.aliprandi@st.com 4:f48e8d87553e 281 }
davide.aliprandi@st.com 4:f48e8d87553e 282
davide.aliprandi@st.com 4:f48e8d87553e 283 /**
davide.aliprandi@st.com 4:f48e8d87553e 284 * @brief Setting the maximum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 285 * @param speed The maximum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 286 * @retval TRUE if value is valid, FALSE otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 287 */
davide.aliprandi@st.com 4:f48e8d87553e 288 virtual bool set_max_speed(unsigned int speed)
davide.aliprandi@st.com 4:f48e8d87553e 289 {
davide.aliprandi@st.com 4:f48e8d87553e 290 return Powerstep01_SetAnalogValue(POWERSTEP01_MAX_SPEED, (float)speed);
davide.aliprandi@st.com 4:f48e8d87553e 291 }
davide.aliprandi@st.com 4:f48e8d87553e 292
davide.aliprandi@st.com 4:f48e8d87553e 293 /**
davide.aliprandi@st.com 4:f48e8d87553e 294 * @brief Setting the minimum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 295 * @param speed The minimum speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 296 * @retval TRUE if value is valid, FALSE otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 297 */
davide.aliprandi@st.com 4:f48e8d87553e 298 virtual bool set_min_speed(unsigned int speed)
davide.aliprandi@st.com 4:f48e8d87553e 299 {
davide.aliprandi@st.com 4:f48e8d87553e 300 return Powerstep01_SetAnalogValue(POWERSTEP01_MIN_SPEED, (float)speed);
davide.aliprandi@st.com 4:f48e8d87553e 301 }
davide.aliprandi@st.com 4:f48e8d87553e 302
davide.aliprandi@st.com 4:f48e8d87553e 303 /**
davide.aliprandi@st.com 4:f48e8d87553e 304 * @brief Setting the acceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 305 * @param acceleration The acceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 306 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 307 */
davide.aliprandi@st.com 4:f48e8d87553e 308 virtual bool set_acceleration(unsigned int acceleration)
davide.aliprandi@st.com 4:f48e8d87553e 309 {
davide.aliprandi@st.com 4:f48e8d87553e 310 return Powerstep01_SetAnalogValue(POWERSTEP01_ACC, (float)acceleration);
davide.aliprandi@st.com 4:f48e8d87553e 311 }
davide.aliprandi@st.com 4:f48e8d87553e 312
davide.aliprandi@st.com 4:f48e8d87553e 313 /**
davide.aliprandi@st.com 4:f48e8d87553e 314 * @brief Setting the deceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 315 * @param deceleration The deceleration in steps/s^2.
davide.aliprandi@st.com 4:f48e8d87553e 316 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 317 */
davide.aliprandi@st.com 4:f48e8d87553e 318 virtual bool set_deceleration(unsigned int deceleration)
davide.aliprandi@st.com 4:f48e8d87553e 319 {
davide.aliprandi@st.com 4:f48e8d87553e 320 return Powerstep01_SetAnalogValue(POWERSTEP01_DEC, (float)deceleration);
davide.aliprandi@st.com 4:f48e8d87553e 321 }
davide.aliprandi@st.com 4:f48e8d87553e 322
davide.aliprandi@st.com 4:f48e8d87553e 323 /**
davide.aliprandi@st.com 4:f48e8d87553e 324 * @brief Setting the Step Mode.
davide.aliprandi@st.com 4:f48e8d87553e 325 * @param step_mode The Step Mode.
davide.aliprandi@st.com 4:f48e8d87553e 326 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 327 * @note step_mode can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 328 * + STEP_MODE_FULL
davide.aliprandi@st.com 4:f48e8d87553e 329 * + STEP_MODE_HALF
davide.aliprandi@st.com 4:f48e8d87553e 330 * + STEP_MODE_1_4
davide.aliprandi@st.com 4:f48e8d87553e 331 * + STEP_MODE_1_8
davide.aliprandi@st.com 4:f48e8d87553e 332 * + STEP_MODE_1_16
davide.aliprandi@st.com 4:f48e8d87553e 333 * + STEP_MODE_1_32
davide.aliprandi@st.com 4:f48e8d87553e 334 * + STEP_MODE_1_64
davide.aliprandi@st.com 4:f48e8d87553e 335 * + STEP_MODE_1_128
davide.aliprandi@st.com 4:f48e8d87553e 336 */
davide.aliprandi@st.com 4:f48e8d87553e 337 virtual bool set_step_mode(step_mode_t step_mode)
davide.aliprandi@st.com 4:f48e8d87553e 338 {
davide.aliprandi@st.com 4:f48e8d87553e 339 return Powerstep01_SelectStepMode((motorStepMode_t) step_mode);
davide.aliprandi@st.com 4:f48e8d87553e 340 }
davide.aliprandi@st.com 4:f48e8d87553e 341
davide.aliprandi@st.com 4:f48e8d87553e 342 /**
davide.aliprandi@st.com 4:f48e8d87553e 343 * @brief Going to a specified position.
davide.aliprandi@st.com 4:f48e8d87553e 344 * @param position The desired position.
davide.aliprandi@st.com 4:f48e8d87553e 345 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 346 */
davide.aliprandi@st.com 4:f48e8d87553e 347 virtual void go_to(signed int position)
davide.aliprandi@st.com 4:f48e8d87553e 348 {
davide.aliprandi@st.com 4:f48e8d87553e 349 Powerstep01_CmdGoTo((int32_t)position);
davide.aliprandi@st.com 4:f48e8d87553e 350 }
davide.aliprandi@st.com 4:f48e8d87553e 351
davide.aliprandi@st.com 4:f48e8d87553e 352 virtual void go_to(direction_t direction, signed int position)
davide.aliprandi@st.com 4:f48e8d87553e 353 {
davide.aliprandi@st.com 4:f48e8d87553e 354 Powerstep01_CmdGoToDir((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),(int32_t)position);
davide.aliprandi@st.com 4:f48e8d87553e 355 }
davide.aliprandi@st.com 4:f48e8d87553e 356
davide.aliprandi@st.com 4:f48e8d87553e 357 /**
davide.aliprandi@st.com 4:f48e8d87553e 358 * @brief Going to the home position.
davide.aliprandi@st.com 4:f48e8d87553e 359 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 360 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 361 */
davide.aliprandi@st.com 4:f48e8d87553e 362 virtual void go_home(void)
davide.aliprandi@st.com 4:f48e8d87553e 363 {
davide.aliprandi@st.com 4:f48e8d87553e 364 Powerstep01_CmdGoHome();
davide.aliprandi@st.com 4:f48e8d87553e 365 }
davide.aliprandi@st.com 4:f48e8d87553e 366
davide.aliprandi@st.com 4:f48e8d87553e 367 /**
davide.aliprandi@st.com 4:f48e8d87553e 368 * @brief Going to the marked position.
davide.aliprandi@st.com 4:f48e8d87553e 369 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 370 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 371 */
davide.aliprandi@st.com 4:f48e8d87553e 372 virtual void go_mark(void)
davide.aliprandi@st.com 4:f48e8d87553e 373 {
davide.aliprandi@st.com 4:f48e8d87553e 374 Powerstep01_CmdGoMark();
davide.aliprandi@st.com 4:f48e8d87553e 375 }
nucleosam 0:00a3c3f5a8f0 376
davide.aliprandi@st.com 4:f48e8d87553e 377 /**
davide.aliprandi@st.com 4:f48e8d87553e 378 * @brief Running the motor towards a specified direction.
davide.aliprandi@st.com 4:f48e8d87553e 379 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 380 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 381 */
davide.aliprandi@st.com 4:f48e8d87553e 382 virtual void run(direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 383 {
davide.aliprandi@st.com 4:f48e8d87553e 384 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), Powerstep01_CmdGetParam((powerstep01_Registers_t) POWERSTEP01_MAX_SPEED));
davide.aliprandi@st.com 4:f48e8d87553e 385 }
davide.aliprandi@st.com 4:f48e8d87553e 386
davide.aliprandi@st.com 4:f48e8d87553e 387 /**
davide.aliprandi@st.com 4:f48e8d87553e 388 * @brief Moving the motor towards a specified direction for a certain number of steps.
davide.aliprandi@st.com 4:f48e8d87553e 389 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 390 * @param steps The desired number of steps.
davide.aliprandi@st.com 4:f48e8d87553e 391 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 392 */
davide.aliprandi@st.com 4:f48e8d87553e 393 virtual void move(direction_t direction, unsigned int steps)
davide.aliprandi@st.com 4:f48e8d87553e 394 {
davide.aliprandi@st.com 4:f48e8d87553e 395 Powerstep01_CmdMove((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), (uint32_t)steps);
davide.aliprandi@st.com 4:f48e8d87553e 396 }
davide.aliprandi@st.com 4:f48e8d87553e 397
davide.aliprandi@st.com 4:f48e8d87553e 398 /**
davide.aliprandi@st.com 4:f48e8d87553e 399 * @brief Stopping the motor through an immediate deceleration up to zero speed.
davide.aliprandi@st.com 4:f48e8d87553e 400 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 401 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 402 */
davide.aliprandi@st.com 4:f48e8d87553e 403 virtual void soft_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 404 {
davide.aliprandi@st.com 4:f48e8d87553e 405 Powerstep01_CmdSoftStop();
davide.aliprandi@st.com 4:f48e8d87553e 406 }
davide.aliprandi@st.com 4:f48e8d87553e 407
davide.aliprandi@st.com 4:f48e8d87553e 408 /**
davide.aliprandi@st.com 4:f48e8d87553e 409 * @brief Stopping the motor through an immediate infinite deceleration.
davide.aliprandi@st.com 4:f48e8d87553e 410 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 411 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 412 */
davide.aliprandi@st.com 4:f48e8d87553e 413 virtual void hard_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 414 {
davide.aliprandi@st.com 4:f48e8d87553e 415 Powerstep01_CmdHardStop();
davide.aliprandi@st.com 4:f48e8d87553e 416 }
davide.aliprandi@st.com 4:f48e8d87553e 417
davide.aliprandi@st.com 4:f48e8d87553e 418 /**
davide.aliprandi@st.com 4:f48e8d87553e 419 * @brief Disabling the power bridge after performing a deceleration to zero.
davide.aliprandi@st.com 4:f48e8d87553e 420 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 421 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 422 */
davide.aliprandi@st.com 4:f48e8d87553e 423 virtual void soft_hiz(void)
davide.aliprandi@st.com 4:f48e8d87553e 424 {
davide.aliprandi@st.com 4:f48e8d87553e 425 Powerstep01_CmdSoftHiZ();
davide.aliprandi@st.com 4:f48e8d87553e 426 }
davide.aliprandi@st.com 4:f48e8d87553e 427
davide.aliprandi@st.com 4:f48e8d87553e 428 /**
davide.aliprandi@st.com 4:f48e8d87553e 429 * @brief Disabling the power bridge immediately.
davide.aliprandi@st.com 4:f48e8d87553e 430 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 431 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 432 */
davide.aliprandi@st.com 4:f48e8d87553e 433 virtual void hard_hiz(void)
davide.aliprandi@st.com 4:f48e8d87553e 434 {
davide.aliprandi@st.com 4:f48e8d87553e 435 Powerstep01_CmdHardHiZ();
davide.aliprandi@st.com 4:f48e8d87553e 436 }
davide.aliprandi@st.com 4:f48e8d87553e 437
davide.aliprandi@st.com 4:f48e8d87553e 438 /**
davide.aliprandi@st.com 4:f48e8d87553e 439 * @brief Waiting while the motor is active.
davide.aliprandi@st.com 4:f48e8d87553e 440 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 441 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 442 */
davide.aliprandi@st.com 4:f48e8d87553e 443 virtual void wait_while_active(void)
davide.aliprandi@st.com 4:f48e8d87553e 444 {
davide.aliprandi@st.com 4:f48e8d87553e 445 Powerstep01_WaitWhileActive();
davide.aliprandi@st.com 4:f48e8d87553e 446 }
davide.aliprandi@st.com 4:f48e8d87553e 447
davide.aliprandi@st.com 4:f48e8d87553e 448 /**
davide.aliprandi@st.com 4:f48e8d87553e 449 * @brief Public functions NOT inherited
davide.aliprandi@st.com 4:f48e8d87553e 450 */
davide.aliprandi@st.com 4:f48e8d87553e 451
davide.aliprandi@st.com 4:f48e8d87553e 452 /**
davide.aliprandi@st.com 4:f48e8d87553e 453 * @brief Attaching an error handler.
davide.aliprandi@st.com 4:f48e8d87553e 454 * @param fptr An error handler.
davide.aliprandi@st.com 4:f48e8d87553e 455 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 456 */
davide.aliprandi@st.com 4:f48e8d87553e 457 virtual void attach_error_handler(void (*fptr)(uint16_t error))
davide.aliprandi@st.com 4:f48e8d87553e 458 {
davide.aliprandi@st.com 4:f48e8d87553e 459 Powerstep01_AttachErrorHandler((void (*)(uint16_t error)) fptr);
davide.aliprandi@st.com 4:f48e8d87553e 460 }
davide.aliprandi@st.com 4:f48e8d87553e 461
davide.aliprandi@st.com 4:f48e8d87553e 462 /**
davide.aliprandi@st.com 4:f48e8d87553e 463 * @brief Checks if the device is busy by reading the busy pin position.
davide.aliprandi@st.com 4:f48e8d87553e 464 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 465 * @retval One if the device his busy (low logic level on busy output),
davide.aliprandi@st.com 4:f48e8d87553e 466 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 467 */
davide.aliprandi@st.com 4:f48e8d87553e 468 virtual int check_busy_hw(void)
davide.aliprandi@st.com 4:f48e8d87553e 469 {
Davidroid 7:9d772e2a9dbe 470 if (busy_irq!=0) {
Davidroid 7:9d772e2a9dbe 471 return 0x01;
Davidroid 7:9d772e2a9dbe 472 } else {
Davidroid 7:9d772e2a9dbe 473 return 0x00;
Davidroid 7:9d772e2a9dbe 474 }
davide.aliprandi@st.com 4:f48e8d87553e 475 }
davide.aliprandi@st.com 4:f48e8d87553e 476
davide.aliprandi@st.com 4:f48e8d87553e 477 /**
davide.aliprandi@st.com 4:f48e8d87553e 478 * @brief Checks if the device has an alarm flag set by reading the flag pin position.
davide.aliprandi@st.com 4:f48e8d87553e 479 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 480 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 481 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 482 */
davide.aliprandi@st.com 4:f48e8d87553e 483 virtual unsigned int check_status_hw(void)
davide.aliprandi@st.com 4:f48e8d87553e 484 {
Davidroid 7:9d772e2a9dbe 485 if (flag_irq!=0) {
Davidroid 7:9d772e2a9dbe 486 return 0x01;
Davidroid 7:9d772e2a9dbe 487 } else {
Davidroid 7:9d772e2a9dbe 488 return 0x00;
Davidroid 7:9d772e2a9dbe 489 }
davide.aliprandi@st.com 4:f48e8d87553e 490 }
davide.aliprandi@st.com 4:f48e8d87553e 491
davide.aliprandi@st.com 4:f48e8d87553e 492 /**
davide.aliprandi@st.com 4:f48e8d87553e 493 * @brief Fetch and clear status flags of all devices
davide.aliprandi@st.com 4:f48e8d87553e 494 * by issuing a GET_STATUS command simultaneously
davide.aliprandi@st.com 4:f48e8d87553e 495 * to all devices.
davide.aliprandi@st.com 4:f48e8d87553e 496 * Then, the fetched status of each device can be retrieved
davide.aliprandi@st.com 4:f48e8d87553e 497 * by using the Powerstep01_GetFetchedStatus function
davide.aliprandi@st.com 4:f48e8d87553e 498 * provided there is no other calls to functions which
davide.aliprandi@st.com 4:f48e8d87553e 499 * use the SPI in between.
davide.aliprandi@st.com 4:f48e8d87553e 500 * @retval None
davide.aliprandi@st.com 4:f48e8d87553e 501 */
davide.aliprandi@st.com 4:f48e8d87553e 502 virtual void fetch_and_clear_all_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 503 {
davide.aliprandi@st.com 4:f48e8d87553e 504 Powerstep01_FetchAndClearAllStatus();
davide.aliprandi@st.com 4:f48e8d87553e 505 }
davide.aliprandi@st.com 4:f48e8d87553e 506
davide.aliprandi@st.com 4:f48e8d87553e 507 /**
davide.aliprandi@st.com 4:f48e8d87553e 508 * @brief Getting a parameter float value.
davide.aliprandi@st.com 4:f48e8d87553e 509 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 510 * @retval The parameter's float value.
davide.aliprandi@st.com 4:f48e8d87553e 511 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 512 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 513 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 514 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 515 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 516 * + POWERSTEP01_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 517 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 518 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 519 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 520 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 521 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 522 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 523 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 524 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 525 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 526 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 527 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 528 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 529 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 530 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 531 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 532 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 533 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 534 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 535 */
davide.aliprandi@st.com 4:f48e8d87553e 536 virtual float get_analog_value(unsigned int parameter)
davide.aliprandi@st.com 4:f48e8d87553e 537 {
davide.aliprandi@st.com 4:f48e8d87553e 538 return Powerstep01_GetAnalogValue((powerstep01_Registers_t)parameter);
davide.aliprandi@st.com 4:f48e8d87553e 539 }
nucleosam 0:00a3c3f5a8f0 540
davide.aliprandi@st.com 4:f48e8d87553e 541 /**
davide.aliprandi@st.com 4:f48e8d87553e 542 * @brief Get the value of the STATUS register which was
davide.aliprandi@st.com 4:f48e8d87553e 543 * fetched by using Powerstep01_FetchAndClearAllStatus.
davide.aliprandi@st.com 4:f48e8d87553e 544 * The fetched values are available as long as there
davide.aliprandi@st.com 4:f48e8d87553e 545 * no other calls to functions which use the SPI.
davide.aliprandi@st.com 4:f48e8d87553e 546 * @retval Last fetched value of the STATUS register.
davide.aliprandi@st.com 4:f48e8d87553e 547 */
davide.aliprandi@st.com 4:f48e8d87553e 548 virtual uint16_t get_fetched_status(void)
davide.aliprandi@st.com 4:f48e8d87553e 549 {
davide.aliprandi@st.com 4:f48e8d87553e 550 return Powerstep01_GetFetchedStatus();
davide.aliprandi@st.com 4:f48e8d87553e 551 }
davide.aliprandi@st.com 4:f48e8d87553e 552
davide.aliprandi@st.com 4:f48e8d87553e 553 /**
davide.aliprandi@st.com 4:f48e8d87553e 554 * @brief Getting the version of the firmware.
davide.aliprandi@st.com 4:f48e8d87553e 555 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 556 * @retval The version of the firmware.
davide.aliprandi@st.com 4:f48e8d87553e 557 */
davide.aliprandi@st.com 4:f48e8d87553e 558 virtual unsigned int get_fw_version(void)
davide.aliprandi@st.com 4:f48e8d87553e 559 {
davide.aliprandi@st.com 4:f48e8d87553e 560 return (unsigned int) Powerstep01_GetFwVersion();
davide.aliprandi@st.com 4:f48e8d87553e 561 }
davide.aliprandi@st.com 4:f48e8d87553e 562
davide.aliprandi@st.com 4:f48e8d87553e 563 /**
davide.aliprandi@st.com 4:f48e8d87553e 564 * @brief Getting a parameter register value.
davide.aliprandi@st.com 4:f48e8d87553e 565 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 566 * @retval The parameter's register value.
davide.aliprandi@st.com 4:f48e8d87553e 567 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 568 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 569 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 570 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 571 * + POWERSTEP01_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 572 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 573 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 574 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 575 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 576 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 577 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 578 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 579 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 580 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 581 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 582 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 583 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 584 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 585 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 586 * (current mode) + POWERSTEP01_T_FAST
davide.aliprandi@st.com 4:f48e8d87553e 587 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 588 * (current mode) + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 589 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 590 * (current mode) + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 591 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 592 * + POWERSTEP01_ADC_OUT
davide.aliprandi@st.com 4:f48e8d87553e 593 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 594 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 595 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 596 * + POWERSTEP01_STEP_MODE
davide.aliprandi@st.com 4:f48e8d87553e 597 * + POWERSTEP01_ALARM_EN
davide.aliprandi@st.com 4:f48e8d87553e 598 * + POWERSTEP01_GATECFG1
davide.aliprandi@st.com 4:f48e8d87553e 599 * + POWERSTEP01_GATECFG2
davide.aliprandi@st.com 4:f48e8d87553e 600 * + POWERSTEP01_CONFIG
davide.aliprandi@st.com 4:f48e8d87553e 601 * + POWERSTEP01_STATUS
davide.aliprandi@st.com 4:f48e8d87553e 602 */
davide.aliprandi@st.com 4:f48e8d87553e 603 virtual unsigned int get_raw_parameter(unsigned int parameter)
davide.aliprandi@st.com 4:f48e8d87553e 604 {
davide.aliprandi@st.com 4:f48e8d87553e 605 return (unsigned int) Powerstep01_CmdGetParam((powerstep01_Registers_t)parameter);
davide.aliprandi@st.com 4:f48e8d87553e 606 }
davide.aliprandi@st.com 4:f48e8d87553e 607
davide.aliprandi@st.com 4:f48e8d87553e 608 /**
davide.aliprandi@st.com 4:f48e8d87553e 609 * @brief Issues PowerStep01 Go Until command.
davide.aliprandi@st.com 4:f48e8d87553e 610 * @param action type of action to undertake when the SW
davide.aliprandi@st.com 4:f48e8d87553e 611 * input is forced high (ACTION_RESET or ACTION_COPY).
davide.aliprandi@st.com 4:f48e8d87553e 612 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 613 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 614 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 615 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 616 */
davide.aliprandi@st.com 4:f48e8d87553e 617 virtual void go_until(motorAction_t action, direction_t direction, float speed)
davide.aliprandi@st.com 4:f48e8d87553e 618 {
davide.aliprandi@st.com 4:f48e8d87553e 619 Powerstep01_CmdGoUntil(action,
davide.aliprandi@st.com 4:f48e8d87553e 620 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD),
davide.aliprandi@st.com 4:f48e8d87553e 621 speed_steps_s_to_reg_val(speed));
davide.aliprandi@st.com 4:f48e8d87553e 622 }
davide.aliprandi@st.com 4:f48e8d87553e 623
davide.aliprandi@st.com 4:f48e8d87553e 624 /**
davide.aliprandi@st.com 4:f48e8d87553e 625 * @brief Checks if the device is busy
davide.aliprandi@st.com 4:f48e8d87553e 626 * by reading the Busy flag bit ot its status Register
davide.aliprandi@st.com 4:f48e8d87553e 627 * This operation clears the status register
davide.aliprandi@st.com 4:f48e8d87553e 628 * @retval true if device is busy, false zero
davide.aliprandi@st.com 4:f48e8d87553e 629 */
davide.aliprandi@st.com 4:f48e8d87553e 630 virtual bool is_device_busy(void)
davide.aliprandi@st.com 4:f48e8d87553e 631 {
davide.aliprandi@st.com 4:f48e8d87553e 632 return Powerstep01_IsDeviceBusy();
davide.aliprandi@st.com 4:f48e8d87553e 633 }
davide.aliprandi@st.com 4:f48e8d87553e 634
davide.aliprandi@st.com 4:f48e8d87553e 635 /**
davide.aliprandi@st.com 4:f48e8d87553e 636 * @brief Put commands in queue before synchronous sending
davide.aliprandi@st.com 4:f48e8d87553e 637 * done by calling send_queued_commands.
davide.aliprandi@st.com 4:f48e8d87553e 638 * Any call to functions that use the SPI between the calls of
davide.aliprandi@st.com 4:f48e8d87553e 639 * queue_commands and send_queued_commands
davide.aliprandi@st.com 4:f48e8d87553e 640 * will corrupt the queue.
davide.aliprandi@st.com 4:f48e8d87553e 641 * A command for each device of the daisy chain must be
davide.aliprandi@st.com 4:f48e8d87553e 642 * specified before calling send_queued_commands.
davide.aliprandi@st.com 4:f48e8d87553e 643 * @param command Command to queue (all Powerstep01 commmands
davide.aliprandi@st.com 4:f48e8d87553e 644 * except POWERSTEP01_SET_PARAM, POWERSTEP01_GET_PARAM,
davide.aliprandi@st.com 4:f48e8d87553e 645 * POWERSTEP01_GET_STATUS).
davide.aliprandi@st.com 4:f48e8d87553e 646 * @param value argument of the command to queue.
davide.aliprandi@st.com 4:f48e8d87553e 647 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 648 */
davide.aliprandi@st.com 4:f48e8d87553e 649 virtual void queue_commands(uint8_t command, int32_t value)
davide.aliprandi@st.com 4:f48e8d87553e 650 {
davide.aliprandi@st.com 4:f48e8d87553e 651 Powerstep01_QueueCommands(command, value);
davide.aliprandi@st.com 4:f48e8d87553e 652 }
davide.aliprandi@st.com 4:f48e8d87553e 653
davide.aliprandi@st.com 4:f48e8d87553e 654 /**
davide.aliprandi@st.com 4:f48e8d87553e 655 * @brief Reading the Status Register.
davide.aliprandi@st.com 4:f48e8d87553e 656 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 657 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 658 * @note The Status Register's flags are not cleared, contrary to get_status().
davide.aliprandi@st.com 4:f48e8d87553e 659 */
davide.aliprandi@st.com 4:f48e8d87553e 660 virtual uint16_t read_status_register(void)
davide.aliprandi@st.com 4:f48e8d87553e 661 {
davide.aliprandi@st.com 4:f48e8d87553e 662 return Powerstep01_ReadStatusRegister();
davide.aliprandi@st.com 4:f48e8d87553e 663 }
davide.aliprandi@st.com 4:f48e8d87553e 664
davide.aliprandi@st.com 4:f48e8d87553e 665 /**
davide.aliprandi@st.com 4:f48e8d87553e 666 * @brief Issues PowerStep01 Release SW command.
davide.aliprandi@st.com 4:f48e8d87553e 667 * @param action type of action to undertake when the SW
davide.aliprandi@st.com 4:f48e8d87553e 668 * input is forced high (ACTION_RESET or ACTION_COPY).
davide.aliprandi@st.com 4:f48e8d87553e 669 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 670 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 671 * @retval One if the device has an alarm flag set (low logic level on flag output),
davide.aliprandi@st.com 4:f48e8d87553e 672 * otherwise zero
davide.aliprandi@st.com 4:f48e8d87553e 673 */
davide.aliprandi@st.com 4:f48e8d87553e 674 virtual void release_sw(motorAction_t action, direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 675 {
davide.aliprandi@st.com 4:f48e8d87553e 676 Powerstep01_CmdReleaseSw(action,
davide.aliprandi@st.com 4:f48e8d87553e 677 (motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
davide.aliprandi@st.com 4:f48e8d87553e 678 }
davide.aliprandi@st.com 4:f48e8d87553e 679
davide.aliprandi@st.com 4:f48e8d87553e 680 /**
davide.aliprandi@st.com 4:f48e8d87553e 681 * @brief Issues PowerStep01 Reset Device command.
davide.aliprandi@st.com 4:f48e8d87553e 682 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 683 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 684 */
davide.aliprandi@st.com 4:f48e8d87553e 685 virtual void reset_command(void)
davide.aliprandi@st.com 4:f48e8d87553e 686 {
davide.aliprandi@st.com 4:f48e8d87553e 687 Powerstep01_CmdResetDevice();
davide.aliprandi@st.com 4:f48e8d87553e 688 }
davide.aliprandi@st.com 4:f48e8d87553e 689
davide.aliprandi@st.com 4:f48e8d87553e 690 /**
davide.aliprandi@st.com 4:f48e8d87553e 691 * @brief Issues PowerStep01 ResetPos command.
davide.aliprandi@st.com 4:f48e8d87553e 692 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 693 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 694 * @note Same effect as set_home().
davide.aliprandi@st.com 4:f48e8d87553e 695 */
davide.aliprandi@st.com 4:f48e8d87553e 696 virtual void reset_position(void)
davide.aliprandi@st.com 4:f48e8d87553e 697 {
davide.aliprandi@st.com 4:f48e8d87553e 698 Powerstep01_CmdResetPos();
davide.aliprandi@st.com 4:f48e8d87553e 699 }
nucleosam 0:00a3c3f5a8f0 700
davide.aliprandi@st.com 4:f48e8d87553e 701 /**
davide.aliprandi@st.com 4:f48e8d87553e 702 * @brief Running the motor towards a specified direction.
davide.aliprandi@st.com 4:f48e8d87553e 703 * @param direction The direction of rotation.
davide.aliprandi@st.com 4:f48e8d87553e 704 * @param speed in steps/s.
davide.aliprandi@st.com 4:f48e8d87553e 705 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 706 */
davide.aliprandi@st.com 4:f48e8d87553e 707 virtual void run(direction_t direction, float speed)
davide.aliprandi@st.com 4:f48e8d87553e 708 {
davide.aliprandi@st.com 4:f48e8d87553e 709 Powerstep01_CmdRun((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD), speed_steps_s_to_reg_val(speed));
davide.aliprandi@st.com 4:f48e8d87553e 710 }
davide.aliprandi@st.com 4:f48e8d87553e 711
davide.aliprandi@st.com 4:f48e8d87553e 712 /**
davide.aliprandi@st.com 4:f48e8d87553e 713 * @brief Sends commands stored previously in the queue by queue_commands.
davide.aliprandi@st.com 4:f48e8d87553e 714 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 715 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 716 */
davide.aliprandi@st.com 4:f48e8d87553e 717 virtual void send_queued_commands(void)
davide.aliprandi@st.com 4:f48e8d87553e 718 {
davide.aliprandi@st.com 4:f48e8d87553e 719 Powerstep01_SendQueuedCommands();
davide.aliprandi@st.com 4:f48e8d87553e 720 }
davide.aliprandi@st.com 4:f48e8d87553e 721
davide.aliprandi@st.com 4:f48e8d87553e 722 /**
davide.aliprandi@st.com 4:f48e8d87553e 723 * @brief Setting a parameter with an input float value.
davide.aliprandi@st.com 4:f48e8d87553e 724 * @param param Register adress.
davide.aliprandi@st.com 4:f48e8d87553e 725 * @param value Float value to convert and set into the register.
davide.aliprandi@st.com 4:f48e8d87553e 726 * @retval TRUE if param and value are valid, FALSE otherwise
davide.aliprandi@st.com 4:f48e8d87553e 727 * @note parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 728 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 729 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 730 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 731 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 732 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 733 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 734 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 735 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 736 * + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 737 * + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 738 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 739 * + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 740 * + POWERSTEP01_KVAL_HOLD
davide.aliprandi@st.com 4:f48e8d87553e 741 * + POWERSTEP01_KVAL_RUN
davide.aliprandi@st.com 4:f48e8d87553e 742 * + POWERSTEP01_KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 743 * + POWERSTEP01_KVAL_DEC
davide.aliprandi@st.com 4:f48e8d87553e 744 * + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 745 * + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 746 * + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 747 * + POWERSTEP01_TVAL_HOLD
davide.aliprandi@st.com 4:f48e8d87553e 748 * + POWERSTEP01_TVAL_RUN
davide.aliprandi@st.com 4:f48e8d87553e 749 * + POWERSTEP01_TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 750 * + POWERSTEP01_TVAL_DEC
davide.aliprandi@st.com 4:f48e8d87553e 751 * + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 752 * + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 753 */
davide.aliprandi@st.com 4:f48e8d87553e 754 virtual bool set_analog_value(unsigned int param, float value)
davide.aliprandi@st.com 4:f48e8d87553e 755 {
davide.aliprandi@st.com 4:f48e8d87553e 756 return Powerstep01_SetAnalogValue((powerstep01_Registers_t)param, value);
davide.aliprandi@st.com 4:f48e8d87553e 757 }
davide.aliprandi@st.com 4:f48e8d87553e 758
davide.aliprandi@st.com 4:f48e8d87553e 759 /**
davide.aliprandi@st.com 4:f48e8d87553e 760 * @brief Setting a parameter.
davide.aliprandi@st.com 4:f48e8d87553e 761 * @param parameter A parameter's register adress.
davide.aliprandi@st.com 4:f48e8d87553e 762 * @param value The parameter's value.
davide.aliprandi@st.com 4:f48e8d87553e 763 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 764 * parameter can be one of the following:
davide.aliprandi@st.com 4:f48e8d87553e 765 * + POWERSTEP01_ABS_POS
davide.aliprandi@st.com 4:f48e8d87553e 766 * + POWERSTEP01_EL_POS
davide.aliprandi@st.com 4:f48e8d87553e 767 * + POWERSTEP01_MARK
davide.aliprandi@st.com 4:f48e8d87553e 768 * + POWERSTEP01_ACC
davide.aliprandi@st.com 4:f48e8d87553e 769 * + POWERSTEP01_DEC
davide.aliprandi@st.com 4:f48e8d87553e 770 * + POWERSTEP01_MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 771 * + POWERSTEP01_MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 772 * (voltage mode) + POWERSTEP01_KVAL_HOLD : value in %
davide.aliprandi@st.com 4:f48e8d87553e 773 * (current mode) + POWERSTEP01_TVAL_HOLD : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 774 * (voltage mode) + POWERSTEP01_KVAL_RUN : value in %
davide.aliprandi@st.com 4:f48e8d87553e 775 * (current mode) + POWERSTEP01_TVAL_RUN : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 776 * (voltage mode) + POWERSTEP01_KVAL_ACC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 777 * (current mode) + POWERSTEP01_TVAL_ACC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 778 * (voltage mode) + POWERSTEP01_KVAL_DEC : value in %
davide.aliprandi@st.com 4:f48e8d87553e 779 * (current mode) + POWERSTEP01_TVAL_DEC : value in mV
davide.aliprandi@st.com 4:f48e8d87553e 780 * (voltage mode) + POWERSTEP01_INT_SPD
davide.aliprandi@st.com 4:f48e8d87553e 781 * (voltage mode) + POWERSTEP01_ST_SLP
davide.aliprandi@st.com 4:f48e8d87553e 782 * (current mode) + POWERSTEP01_T_FAST
davide.aliprandi@st.com 4:f48e8d87553e 783 * (voltage mode) + POWERSTEP01_FN_SLP_ACC
davide.aliprandi@st.com 4:f48e8d87553e 784 * (current mode) + POWERSTEP01_TON_MIN
davide.aliprandi@st.com 4:f48e8d87553e 785 * (voltage mode) + POWERSTEP01_FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 786 * (current mode) + POWERSTEP01_TOFF_MIN
davide.aliprandi@st.com 4:f48e8d87553e 787 * (voltage mode) + POWERSTEP01_K_THERM
davide.aliprandi@st.com 4:f48e8d87553e 788 * + POWERSTEP01_ADC_OUT
davide.aliprandi@st.com 4:f48e8d87553e 789 * + POWERSTEP01_OCD_TH
davide.aliprandi@st.com 4:f48e8d87553e 790 * (voltage mode) + POWERSTEP01_STALL_TH
davide.aliprandi@st.com 4:f48e8d87553e 791 * + POWERSTEP01_FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 792 * + POWERSTEP01_STEP_MODE
davide.aliprandi@st.com 4:f48e8d87553e 793 * + POWERSTEP01_ALARM_EN
davide.aliprandi@st.com 4:f48e8d87553e 794 * + POWERSTEP01_GATECFG1
davide.aliprandi@st.com 4:f48e8d87553e 795 * + POWERSTEP01_GATECFG2
davide.aliprandi@st.com 4:f48e8d87553e 796 * + POWERSTEP01_CONFIG
davide.aliprandi@st.com 4:f48e8d87553e 797 */
davide.aliprandi@st.com 4:f48e8d87553e 798 virtual void set_raw_parameter(unsigned int parameter, unsigned int value)
davide.aliprandi@st.com 4:f48e8d87553e 799 {
davide.aliprandi@st.com 4:f48e8d87553e 800 Powerstep01_CmdSetParam((powerstep01_Registers_t)parameter, (uint32_t)value);
davide.aliprandi@st.com 4:f48e8d87553e 801 }
davide.aliprandi@st.com 4:f48e8d87553e 802
davide.aliprandi@st.com 4:f48e8d87553e 803 /**
davide.aliprandi@st.com 4:f48e8d87553e 804 * @brief Enable the step clock mode.
davide.aliprandi@st.com 4:f48e8d87553e 805 * @param frequency the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 806 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 807 */
davide.aliprandi@st.com 4:f48e8d87553e 808 virtual void step_clock_mode_enable(direction_t direction)
davide.aliprandi@st.com 4:f48e8d87553e 809 {
davide.aliprandi@st.com 4:f48e8d87553e 810 Powerstep01_CmdStepClock((motorDir_t) (direction == StepperMotor::FWD ? FORWARD : BACKWARD));
davide.aliprandi@st.com 4:f48e8d87553e 811 }
davide.aliprandi@st.com 4:f48e8d87553e 812
davide.aliprandi@st.com 4:f48e8d87553e 813 /**
davide.aliprandi@st.com 4:f48e8d87553e 814 * @brief Setting the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 815 * The frequency controls directly the speed of the device.
davide.aliprandi@st.com 4:f48e8d87553e 816 * @param frequency the frequency of PWM.
davide.aliprandi@st.com 4:f48e8d87553e 817 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 818 */
davide.aliprandi@st.com 4:f48e8d87553e 819 virtual void step_clock_start(uint16_t frequency)
davide.aliprandi@st.com 4:f48e8d87553e 820 {
davide.aliprandi@st.com 4:f48e8d87553e 821 /* Computing the period of PWM. */
davide.aliprandi@st.com 4:f48e8d87553e 822 double period = 1.0f / frequency;
davide.aliprandi@st.com 4:f48e8d87553e 823
davide.aliprandi@st.com 4:f48e8d87553e 824 /* Setting the period and the duty-cycle of PWM. */
davide.aliprandi@st.com 4:f48e8d87553e 825 pwm.period(period);
davide.aliprandi@st.com 4:f48e8d87553e 826 pwm.write(0.5f);
davide.aliprandi@st.com 4:f48e8d87553e 827 }
davide.aliprandi@st.com 4:f48e8d87553e 828
davide.aliprandi@st.com 4:f48e8d87553e 829 /**
davide.aliprandi@st.com 4:f48e8d87553e 830 * @brief Stopping the PWM.
davide.aliprandi@st.com 4:f48e8d87553e 831 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 832 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 833 */
davide.aliprandi@st.com 4:f48e8d87553e 834 virtual void step_clock_stop(void)
davide.aliprandi@st.com 4:f48e8d87553e 835 {
davide.aliprandi@st.com 4:f48e8d87553e 836 pwm.write(0.0f);
davide.aliprandi@st.com 4:f48e8d87553e 837 }
davide.aliprandi@st.com 4:f48e8d87553e 838
davide.aliprandi@st.com 4:f48e8d87553e 839 /**
davide.aliprandi@st.com 4:f48e8d87553e 840 * @brief Public static functions
davide.aliprandi@st.com 4:f48e8d87553e 841 */
davide.aliprandi@st.com 4:f48e8d87553e 842
davide.aliprandi@st.com 4:f48e8d87553e 843 static uint8_t get_nb_devices(void)
davide.aliprandi@st.com 4:f48e8d87553e 844 {
davide.aliprandi@st.com 4:f48e8d87553e 845 return numberOfDevices;
davide.aliprandi@st.com 4:f48e8d87553e 846 }
davide.aliprandi@st.com 4:f48e8d87553e 847
davide.aliprandi@st.com 4:f48e8d87553e 848 /**
davide.aliprandi@st.com 4:f48e8d87553e 849 * @brief To and from register parameter conversion functions
davide.aliprandi@st.com 4:f48e8d87553e 850 */
davide.aliprandi@st.com 4:f48e8d87553e 851
davide.aliprandi@st.com 4:f48e8d87553e 852 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 853 * @brief Convert the float formatted acceleration or
davide.aliprandi@st.com 4:f48e8d87553e 854 * deceleration into respectively an ACC or DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 855 * @param[in] steps_s2 the acceleration or deceleration as
davide.aliprandi@st.com 4:f48e8d87553e 856 * steps/s^2, range 14.55 to 59590 steps/s^2
davide.aliprandi@st.com 4:f48e8d87553e 857 * @retval The acceleration or deceleration as steps/tick^2
davide.aliprandi@st.com 4:f48e8d87553e 858 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 859 static uint16_t acc_dec_steps_s2_to_reg_val(float steps_s2)
davide.aliprandi@st.com 4:f48e8d87553e 860 {
davide.aliprandi@st.com 4:f48e8d87553e 861 return ((uint16_t)(((float)(steps_s2)*0.068719476736f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 862 }
davide.aliprandi@st.com 4:f48e8d87553e 863
davide.aliprandi@st.com 4:f48e8d87553e 864 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 865 * @brief Convert the ACC or DEC register value into step/s^2
davide.aliprandi@st.com 4:f48e8d87553e 866 * @param[in] regVal The ACC or DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 867 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 868 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 869 static float acc_dec_reg_val_to_steps_s2(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 870 {
davide.aliprandi@st.com 4:f48e8d87553e 871 return (((float)(regVal))*14.5519152283f);
davide.aliprandi@st.com 4:f48e8d87553e 872 }
davide.aliprandi@st.com 4:f48e8d87553e 873
davide.aliprandi@st.com 4:f48e8d87553e 874 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 875 * @brief Converts BEMF compensation slope to values for ST_SLP,
davide.aliprandi@st.com 4:f48e8d87553e 876 * FN_SLP_ACC or FN_SLP_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 877 * @param[in] percentage BEMF compensation slope percentage,
davide.aliprandi@st.com 4:f48e8d87553e 878 * range 0 to 0.4% (0.004) s/step
davide.aliprandi@st.com 4:f48e8d87553e 879 * @retval value for ST_SLP, FN_SLP_ACC or FN_SLP_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 880 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 881 static uint8_t bemf_slope_perc_to_reg_val(float percentage)
davide.aliprandi@st.com 4:f48e8d87553e 882 {
davide.aliprandi@st.com 4:f48e8d87553e 883 return ((uint8_t)(((float)(percentage)*637.5f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 884 }
davide.aliprandi@st.com 4:f48e8d87553e 885
davide.aliprandi@st.com 4:f48e8d87553e 886 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 887 * @brief Converts values from ST_SLP, FN_SLP_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 888 * FN_SLP_DEC register to BEMF compensation slope percentage
davide.aliprandi@st.com 4:f48e8d87553e 889 * @param[in] regVal The ST_SLP, FN_SLP_ACC or FN_SLP_DEC
davide.aliprandi@st.com 4:f48e8d87553e 890 * register value
davide.aliprandi@st.com 4:f48e8d87553e 891 * @retval BEMF compensation slope percentage
davide.aliprandi@st.com 4:f48e8d87553e 892 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 893 static float bemf_slope_reg_val_to_perc(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 894 {
davide.aliprandi@st.com 4:f48e8d87553e 895 return (((float)(regVal))*0.00156862745098f);
davide.aliprandi@st.com 4:f48e8d87553e 896 }
davide.aliprandi@st.com 4:f48e8d87553e 897
davide.aliprandi@st.com 4:f48e8d87553e 898 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 899 * @brief Convert the float formatted speed into a FS_SPD
davide.aliprandi@st.com 4:f48e8d87553e 900 * register value
davide.aliprandi@st.com 4:f48e8d87553e 901 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 902 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 903 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 904 static uint16_t fs_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 905 {
davide.aliprandi@st.com 4:f48e8d87553e 906 return ((uint16_t)((float)(steps_s)*0.065536f));
davide.aliprandi@st.com 4:f48e8d87553e 907 }
davide.aliprandi@st.com 4:f48e8d87553e 908
davide.aliprandi@st.com 4:f48e8d87553e 909 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 910 * @brief Convert the FS_SPD register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 911 * @param[in] regVal The FS_SPD register value
davide.aliprandi@st.com 4:f48e8d87553e 912 * @retval The full Step speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 913 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 914 static float fs_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 915 {
davide.aliprandi@st.com 4:f48e8d87553e 916 return (((float)regVal+0.999f)*15.258789f);
davide.aliprandi@st.com 4:f48e8d87553e 917 }
davide.aliprandi@st.com 4:f48e8d87553e 918
davide.aliprandi@st.com 4:f48e8d87553e 919 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 920 * @brief Convert the float formatted speed into a INT_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 921 * register value
davide.aliprandi@st.com 4:f48e8d87553e 922 * @param[in] steps_s the speed as steps/s, range 0 to 976.5 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 923 * @retval The intersect speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 924 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 925 static uint16_t int_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 926 {
davide.aliprandi@st.com 4:f48e8d87553e 927 return ((uint16_t)(((float)(steps_s)*16.777216f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 928 }
davide.aliprandi@st.com 4:f48e8d87553e 929
davide.aliprandi@st.com 4:f48e8d87553e 930 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 931 * @brief Convert the INT_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 932 * @param[in] regVal The INT_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 933 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 934 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 935 static float int_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 936 {
davide.aliprandi@st.com 4:f48e8d87553e 937 return (((float)(regVal))*0.0596045f);
davide.aliprandi@st.com 4:f48e8d87553e 938 }
davide.aliprandi@st.com 4:f48e8d87553e 939
davide.aliprandi@st.com 4:f48e8d87553e 940 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 941 * @brief Convert the float formatted thermal compensation
davide.aliprandi@st.com 4:f48e8d87553e 942 * factor into a K_THERM register value
davide.aliprandi@st.com 4:f48e8d87553e 943 * @param[in] compFactor the float formatted thermal
davide.aliprandi@st.com 4:f48e8d87553e 944 * compensation factor, range 1 to 1.46875
davide.aliprandi@st.com 4:f48e8d87553e 945 * @retval value for K_THERM register
davide.aliprandi@st.com 4:f48e8d87553e 946 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 947 static uint8_t k_therm_comp_to_reg_val(float compFactor)
davide.aliprandi@st.com 4:f48e8d87553e 948 {
davide.aliprandi@st.com 4:f48e8d87553e 949 return ((uint8_t)((((float)(compFactor)-1.0f)*32.0f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 950 }
davide.aliprandi@st.com 4:f48e8d87553e 951
davide.aliprandi@st.com 4:f48e8d87553e 952 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 953 * @brief Convert the K_THERM register value into a float
davide.aliprandi@st.com 4:f48e8d87553e 954 * formatted thermal compensation factor
davide.aliprandi@st.com 4:f48e8d87553e 955 * @param[in] regVal The K_THERM register value
davide.aliprandi@st.com 4:f48e8d87553e 956 * @retval The float formatted thermal compensation factor
davide.aliprandi@st.com 4:f48e8d87553e 957 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 958 static float k_therm_reg_val_to_comp(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 959 {
davide.aliprandi@st.com 4:f48e8d87553e 960 return (((float)(regVal))*0.03125f+1);
davide.aliprandi@st.com 4:f48e8d87553e 961 }
davide.aliprandi@st.com 4:f48e8d87553e 962
davide.aliprandi@st.com 4:f48e8d87553e 963 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 964 * @brief Converts voltage in percentage to values for KVAL_RUN,
davide.aliprandi@st.com 4:f48e8d87553e 965 * KVAL_HOLD, KVAL_ACC or KVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 966 * @param[in] percentage percentage of the power supply voltage
davide.aliprandi@st.com 4:f48e8d87553e 967 * applied to the motor windings, range 0.4% to 99.6%
davide.aliprandi@st.com 4:f48e8d87553e 968 * @retval value for KVAL_RUN, KVAL_HOLD, KVAL_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 969 * KVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 970 * @note The voltage applied is sinusoidal
davide.aliprandi@st.com 4:f48e8d87553e 971 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 972 static uint8_t k_val_perc_to_reg_val(float percentage)
davide.aliprandi@st.com 4:f48e8d87553e 973 {
davide.aliprandi@st.com 4:f48e8d87553e 974 return ((uint8_t)(((float)(percentage)*2.56f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 975 }
davide.aliprandi@st.com 4:f48e8d87553e 976
davide.aliprandi@st.com 4:f48e8d87553e 977 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 978 * @brief Converts values from KVAL_RUN, KVAL_HOLD, KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 979 * or KVAL_DEC register to percentage
davide.aliprandi@st.com 4:f48e8d87553e 980 * @param[in] regVal The KVAL_RUN, KVAL_HOLD, KVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 981 * or KVAL_DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 982 * @retval percentage of the power supply voltage applied to
davide.aliprandi@st.com 4:f48e8d87553e 983 * the motor windings
davide.aliprandi@st.com 4:f48e8d87553e 984 * @note The voltage applied is sinusoidal
davide.aliprandi@st.com 4:f48e8d87553e 985 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 986 static float k_val_reg_val_to_perc(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 987 {
davide.aliprandi@st.com 4:f48e8d87553e 988 return (((float)(regVal))*0.390625f);
davide.aliprandi@st.com 4:f48e8d87553e 989 }
davide.aliprandi@st.com 4:f48e8d87553e 990
davide.aliprandi@st.com 4:f48e8d87553e 991 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 992 * @brief Convert the float formatted speed into a MAX_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 993 * register value
davide.aliprandi@st.com 4:f48e8d87553e 994 * @param[in] steps_s the speed as steps/s, range 15.25 to 15610 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 995 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 996 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 997 static uint16_t max_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 998 {
davide.aliprandi@st.com 4:f48e8d87553e 999 return ((uint16_t)(((float)(steps_s)*0.065536f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1000 }
davide.aliprandi@st.com 4:f48e8d87553e 1001
davide.aliprandi@st.com 4:f48e8d87553e 1002 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1003 * @brief Convert the MAX_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 1004 * @param[in] regVal The MAX_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 1005 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1006 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1007 static float max_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1008 {
davide.aliprandi@st.com 4:f48e8d87553e 1009 return (((float)(regVal))*15.258789f);
davide.aliprandi@st.com 4:f48e8d87553e 1010 }
davide.aliprandi@st.com 4:f48e8d87553e 1011
davide.aliprandi@st.com 4:f48e8d87553e 1012 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1013 * @brief Convert the float formatted speed into a MIN_SPEED
davide.aliprandi@st.com 4:f48e8d87553e 1014 * register value
davide.aliprandi@st.com 4:f48e8d87553e 1015 * @param[in] steps_s the speed as steps/s, range 0 to 976.3 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1016 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 1017 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1018 static uint16_t min_spd_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 1019 {
davide.aliprandi@st.com 4:f48e8d87553e 1020 return ((uint16_t)(((float)(steps_s)*4.194304f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1021 }
davide.aliprandi@st.com 4:f48e8d87553e 1022
davide.aliprandi@st.com 4:f48e8d87553e 1023 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1024 * @brief Convert the MIN_SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 1025 * @param[in] regVal The MIN_SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 1026 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1027 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1028 static float min_spd_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1029 {
davide.aliprandi@st.com 4:f48e8d87553e 1030 return (((float)(regVal))*0.238418579f);
davide.aliprandi@st.com 4:f48e8d87553e 1031 }
davide.aliprandi@st.com 4:f48e8d87553e 1032
davide.aliprandi@st.com 4:f48e8d87553e 1033 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1034 * @brief Convert the float formatted speed into a SPEED
davide.aliprandi@st.com 4:f48e8d87553e 1035 * register value
davide.aliprandi@st.com 4:f48e8d87553e 1036 * @param[in] steps_s the speed as steps/s, range 0 to 15625 steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1037 * @retval The speed as steps/tick
davide.aliprandi@st.com 4:f48e8d87553e 1038 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1039 static uint32_t speed_steps_s_to_reg_val(float steps_s)
davide.aliprandi@st.com 4:f48e8d87553e 1040 {
davide.aliprandi@st.com 4:f48e8d87553e 1041 return ((uint32_t)(((float)(steps_s)*67.108864f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1042 }
davide.aliprandi@st.com 4:f48e8d87553e 1043
davide.aliprandi@st.com 4:f48e8d87553e 1044 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1045 * @brief Convert the SPEED register value into step/s
davide.aliprandi@st.com 4:f48e8d87553e 1046 * @param[in] regVal The SPEED register value
davide.aliprandi@st.com 4:f48e8d87553e 1047 * @retval The speed as steps/s
davide.aliprandi@st.com 4:f48e8d87553e 1048 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1049 static float speed_reg_val_to_steps_s(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1050 {
davide.aliprandi@st.com 4:f48e8d87553e 1051 return (((float)(regVal))*0.01490116119f);
davide.aliprandi@st.com 4:f48e8d87553e 1052 }
davide.aliprandi@st.com 4:f48e8d87553e 1053
davide.aliprandi@st.com 4:f48e8d87553e 1054 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1055 * @brief Converts STALL or OCD Threshold voltage in mV to
davide.aliprandi@st.com 4:f48e8d87553e 1056 * values for STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1057 * @param[in] mV voltage in mV, range 31.25mV to 1000mV
davide.aliprandi@st.com 4:f48e8d87553e 1058 * @retval value for STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1059 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1060 static uint8_t stall_ocd_th_to_reg_val(float mV)
davide.aliprandi@st.com 4:f48e8d87553e 1061 {
davide.aliprandi@st.com 4:f48e8d87553e 1062 return ((uint8_t)((((float)(mV)-31.25f)*0.032f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1063 }
davide.aliprandi@st.com 4:f48e8d87553e 1064
davide.aliprandi@st.com 4:f48e8d87553e 1065 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1066 * @brief Converts values from STALL_TH or OCD_TH register
davide.aliprandi@st.com 4:f48e8d87553e 1067 * to mV
davide.aliprandi@st.com 4:f48e8d87553e 1068 * @param[in] regVal The STALL_TH or OCD_TH register value
davide.aliprandi@st.com 4:f48e8d87553e 1069 * @retval voltage in mV
davide.aliprandi@st.com 4:f48e8d87553e 1070 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1071 static float stall_ocd_reg_val_to_th(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1072 {
davide.aliprandi@st.com 4:f48e8d87553e 1073 return (((float)(regVal+1))*31.25f);
davide.aliprandi@st.com 4:f48e8d87553e 1074 }
davide.aliprandi@st.com 4:f48e8d87553e 1075
davide.aliprandi@st.com 4:f48e8d87553e 1076 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1077 * @brief Converts voltage in mV to values for TVAL_RUN,
davide.aliprandi@st.com 4:f48e8d87553e 1078 * TVAL_HOLD, TVAL_ACC or TVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 1079 * @param[in] voltage_mV voltage in mV, range 7.8mV to 1000mV
davide.aliprandi@st.com 4:f48e8d87553e 1080 * @retval value for TVAL_RUN, TVAL_HOLD, TVAL_ACC or
davide.aliprandi@st.com 4:f48e8d87553e 1081 * TVAL_DEC register
davide.aliprandi@st.com 4:f48e8d87553e 1082 * @note The voltage corresponds to a peak output current
davide.aliprandi@st.com 4:f48e8d87553e 1083 * accross the external sense power resistor
davide.aliprandi@st.com 4:f48e8d87553e 1084 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1085 static uint8_t t_val_ref_voltage_to_reg_val(float voltage_mV)
davide.aliprandi@st.com 4:f48e8d87553e 1086 {
davide.aliprandi@st.com 4:f48e8d87553e 1087 return ((uint8_t)((((float)(voltage_mV)-7.8125f)*0.128f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1088 }
davide.aliprandi@st.com 4:f48e8d87553e 1089
davide.aliprandi@st.com 4:f48e8d87553e 1090 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1091 * @brief Converts values from TVAL_RUN, TVAL_HOLD, TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 1092 * or TVAL_DEC register to mV
davide.aliprandi@st.com 4:f48e8d87553e 1093 * @param[in] regVal The TVAL_RUN, TVAL_HOLD, TVAL_ACC
davide.aliprandi@st.com 4:f48e8d87553e 1094 * or TVAL_DEC register value
davide.aliprandi@st.com 4:f48e8d87553e 1095 * @retval voltage in mV
davide.aliprandi@st.com 4:f48e8d87553e 1096 * @note The voltage corresponds to a peak output current
davide.aliprandi@st.com 4:f48e8d87553e 1097 * accross the external sense power resistor
davide.aliprandi@st.com 4:f48e8d87553e 1098 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1099 static float t_val_reg_val_to_ref_voltage(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1100 {
davide.aliprandi@st.com 4:f48e8d87553e 1101 return (((float)(regVal+1))*7.8125f);
davide.aliprandi@st.com 4:f48e8d87553e 1102 }
davide.aliprandi@st.com 4:f48e8d87553e 1103
davide.aliprandi@st.com 4:f48e8d87553e 1104 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1105 * @brief Convert time in us to values for TON_MIN register
davide.aliprandi@st.com 4:f48e8d87553e 1106 * @param[in] tmin_us time in us, range 0.5us to 64us
davide.aliprandi@st.com 4:f48e8d87553e 1107 * @retval value for TON_MIN register
davide.aliprandi@st.com 4:f48e8d87553e 1108 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1109 static uint8_t t_min_time_to_reg_val(float tmin_us)
davide.aliprandi@st.com 4:f48e8d87553e 1110 {
davide.aliprandi@st.com 4:f48e8d87553e 1111 return ((uint8_t)((((float)(tmin_us)-0.5f)*2.0f)+0.5f));
davide.aliprandi@st.com 4:f48e8d87553e 1112 }
davide.aliprandi@st.com 4:f48e8d87553e 1113
davide.aliprandi@st.com 4:f48e8d87553e 1114 /**********************************************************
davide.aliprandi@st.com 4:f48e8d87553e 1115 * @brief Convert values for TON_MIN or TOFF_MIN register to time in us
davide.aliprandi@st.com 4:f48e8d87553e 1116 * @param[in] regVal The TON_MIN or TOFF_MIN register value
davide.aliprandi@st.com 4:f48e8d87553e 1117 * @retval time in us
davide.aliprandi@st.com 4:f48e8d87553e 1118 **********************************************************/
davide.aliprandi@st.com 4:f48e8d87553e 1119 static float t_min_reg_val_to_time(uint32_t regVal)
davide.aliprandi@st.com 4:f48e8d87553e 1120 {
davide.aliprandi@st.com 4:f48e8d87553e 1121 return (((float)(regVal+1))*0.5f);
davide.aliprandi@st.com 4:f48e8d87553e 1122 }
davide.aliprandi@st.com 4:f48e8d87553e 1123
davide.aliprandi@st.com 4:f48e8d87553e 1124 /*** Public Interrupt Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1125
davide.aliprandi@st.com 4:f48e8d87553e 1126 /* ACTION 6 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1127 * Implement here interrupt related methods, if any. *
davide.aliprandi@st.com 4:f48e8d87553e 1128 * Note that interrupt handling is platform dependent, e.g.: *
davide.aliprandi@st.com 4:f48e8d87553e 1129 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1130 * InterruptIn feature_irq(pin); //Interrupt object. *
davide.aliprandi@st.com 4:f48e8d87553e 1131 * feature_irq.rise(callback); //Attach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1132 * feature_irq.mode(PullNone); //Set interrupt mode. *
davide.aliprandi@st.com 4:f48e8d87553e 1133 * feature_irq.enable_irq(); //Enable interrupt. *
davide.aliprandi@st.com 4:f48e8d87553e 1134 * feature_irq.disable_irq(); //Disable interrupt. *
davide.aliprandi@st.com 4:f48e8d87553e 1135 * + Arduino: *
davide.aliprandi@st.com 4:f48e8d87553e 1136 * attachInterrupt(pin, callback, RISING); //Attach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1137 * detachInterrupt(pin); //Detach a callback. *
davide.aliprandi@st.com 4:f48e8d87553e 1138 * *
davide.aliprandi@st.com 4:f48e8d87553e 1139 * Example (mbed): *
davide.aliprandi@st.com 4:f48e8d87553e 1140 * void attach_feature_irq(void (*fptr) (void)) *
davide.aliprandi@st.com 4:f48e8d87553e 1141 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1142 * feature_irq.rise(fptr); *
davide.aliprandi@st.com 4:f48e8d87553e 1143 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1144 * *
davide.aliprandi@st.com 4:f48e8d87553e 1145 * void enable_feature_irq(void) *
davide.aliprandi@st.com 4:f48e8d87553e 1146 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1147 * feature_irq.enable_irq(); *
davide.aliprandi@st.com 4:f48e8d87553e 1148 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1149 * *
davide.aliprandi@st.com 4:f48e8d87553e 1150 * void disable_feature_irq(void) *
davide.aliprandi@st.com 4:f48e8d87553e 1151 * { *
davide.aliprandi@st.com 4:f48e8d87553e 1152 * feature_irq.disable_irq(); *
davide.aliprandi@st.com 4:f48e8d87553e 1153 * } *
davide.aliprandi@st.com 4:f48e8d87553e 1154 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1155 /**
davide.aliprandi@st.com 4:f48e8d87553e 1156 * @brief Attaching an interrupt handler to the FLAG interrupt.
davide.aliprandi@st.com 4:f48e8d87553e 1157 * @param fptr An interrupt handler.
davide.aliprandi@st.com 4:f48e8d87553e 1158 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1159 */
davide.aliprandi@st.com 4:f48e8d87553e 1160 void attach_flag_irq(void (*fptr)(void))
davide.aliprandi@st.com 4:f48e8d87553e 1161 {
davide.aliprandi@st.com 4:f48e8d87553e 1162 flag_irq.fall(fptr);
davide.aliprandi@st.com 4:f48e8d87553e 1163 }
davide.aliprandi@st.com 4:f48e8d87553e 1164
davide.aliprandi@st.com 4:f48e8d87553e 1165 /**
davide.aliprandi@st.com 4:f48e8d87553e 1166 * @brief Enabling the FLAG interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1167 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1168 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1169 */
davide.aliprandi@st.com 4:f48e8d87553e 1170 void enable_flag_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1171 {
davide.aliprandi@st.com 4:f48e8d87553e 1172 flag_irq.enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1173 }
davide.aliprandi@st.com 4:f48e8d87553e 1174
davide.aliprandi@st.com 4:f48e8d87553e 1175 /**
davide.aliprandi@st.com 4:f48e8d87553e 1176 * @brief Disabling the FLAG interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1177 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1178 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1179 */
davide.aliprandi@st.com 4:f48e8d87553e 1180 void disable_flag_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1181 {
davide.aliprandi@st.com 4:f48e8d87553e 1182 flag_irq.disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1183 }
davide.aliprandi@st.com 4:f48e8d87553e 1184
davide.aliprandi@st.com 4:f48e8d87553e 1185 /**
davide.aliprandi@st.com 4:f48e8d87553e 1186 * @brief Attaching an interrupt handler to the BUSY interrupt.
davide.aliprandi@st.com 4:f48e8d87553e 1187 * @param fptr An interrupt handler.
davide.aliprandi@st.com 4:f48e8d87553e 1188 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1189 */
davide.aliprandi@st.com 4:f48e8d87553e 1190 void attach_busy_irq(void (*fptr)(void))
davide.aliprandi@st.com 4:f48e8d87553e 1191 {
davide.aliprandi@st.com 4:f48e8d87553e 1192 busy_irq.fall(fptr);
davide.aliprandi@st.com 4:f48e8d87553e 1193 }
davide.aliprandi@st.com 4:f48e8d87553e 1194
davide.aliprandi@st.com 4:f48e8d87553e 1195 /**
davide.aliprandi@st.com 4:f48e8d87553e 1196 * @brief Enabling the BUSY interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1197 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1198 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1199 */
davide.aliprandi@st.com 4:f48e8d87553e 1200 void enable_busy_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1201 {
davide.aliprandi@st.com 4:f48e8d87553e 1202 busy_irq.enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1203 }
davide.aliprandi@st.com 4:f48e8d87553e 1204
davide.aliprandi@st.com 4:f48e8d87553e 1205 /**
davide.aliprandi@st.com 4:f48e8d87553e 1206 * @brief Disabling the BUSY interrupt handling.
davide.aliprandi@st.com 4:f48e8d87553e 1207 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1208 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1209 */
davide.aliprandi@st.com 4:f48e8d87553e 1210 void disable_busy_irq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1211 {
davide.aliprandi@st.com 4:f48e8d87553e 1212 busy_irq.disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1213 }
davide.aliprandi@st.com 4:f48e8d87553e 1214
davide.aliprandi@st.com 4:f48e8d87553e 1215 protected:
davide.aliprandi@st.com 4:f48e8d87553e 1216
davide.aliprandi@st.com 4:f48e8d87553e 1217 /*** Protected Component Related Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1218
davide.aliprandi@st.com 4:f48e8d87553e 1219 /* ACTION 7 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1220 * Declare here the component's specific methods. *
davide.aliprandi@st.com 4:f48e8d87553e 1221 * They should be: *
davide.aliprandi@st.com 4:f48e8d87553e 1222 * + Methods with the same name of the C component's virtual table's *
davide.aliprandi@st.com 4:f48e8d87553e 1223 * functions (1); *
davide.aliprandi@st.com 4:f48e8d87553e 1224 * + Methods with the same name of the C component's extended virtual *
davide.aliprandi@st.com 4:f48e8d87553e 1225 * table's functions, if any (2); *
davide.aliprandi@st.com 4:f48e8d87553e 1226 * + Helper methods, if any, like functions declared in the component's *
davide.aliprandi@st.com 4:f48e8d87553e 1227 * source files but not pointed by the component's virtual table (3). *
davide.aliprandi@st.com 4:f48e8d87553e 1228 * *
davide.aliprandi@st.com 4:f48e8d87553e 1229 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1230 * status_t COMPONENT_get_value(float *f); //(1) *
davide.aliprandi@st.com 4:f48e8d87553e 1231 * status_t COMPONENT_enable_feature(void); //(2) *
davide.aliprandi@st.com 4:f48e8d87553e 1232 * status_t COMPONENT_compute_average(void); //(3) *
davide.aliprandi@st.com 4:f48e8d87553e 1233 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1234 status_t Powerstep01_Init(void *init);
davide.aliprandi@st.com 4:f48e8d87553e 1235 status_t Powerstep01_ReadID(uint8_t *id);
davide.aliprandi@st.com 4:f48e8d87553e 1236 void Powerstep01_AttachErrorHandler(void (*callback)(uint16_t error));
davide.aliprandi@st.com 4:f48e8d87553e 1237 uint8_t Powerstep01_CheckBusyHw(void);
davide.aliprandi@st.com 4:f48e8d87553e 1238 uint8_t Powerstep01_CheckStatusHw(void);
davide.aliprandi@st.com 4:f48e8d87553e 1239 uint16_t Powerstep01_CmdGetStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1240 void Powerstep01_CmdGoHome(void);
davide.aliprandi@st.com 4:f48e8d87553e 1241 void Powerstep01_CmdGoMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1242 void Powerstep01_CmdGoTo(int32_t targetPosition);
davide.aliprandi@st.com 4:f48e8d87553e 1243 void Powerstep01_CmdGoToDir(motorDir_t direction, int32_t targetPosition);
davide.aliprandi@st.com 4:f48e8d87553e 1244 void Powerstep01_CmdGoUntil(motorAction_t action, motorDir_t direction, uint32_t speed);
davide.aliprandi@st.com 4:f48e8d87553e 1245 void Powerstep01_CmdHardHiZ(void);
davide.aliprandi@st.com 4:f48e8d87553e 1246 void Powerstep01_CmdHardStop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1247 void Powerstep01_CmdMove(motorDir_t direction, uint32_t stepCount);
davide.aliprandi@st.com 4:f48e8d87553e 1248 void Powerstep01_CmdNop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1249 void Powerstep01_CmdReleaseSw(motorAction_t action, motorDir_t direction);
davide.aliprandi@st.com 4:f48e8d87553e 1250 void Powerstep01_CmdResetDevice(void);
davide.aliprandi@st.com 4:f48e8d87553e 1251 void Powerstep01_CmdResetPos(void);
davide.aliprandi@st.com 4:f48e8d87553e 1252 void Powerstep01_CmdRun(motorDir_t direction, uint32_t speed);
davide.aliprandi@st.com 4:f48e8d87553e 1253 void Powerstep01_CmdSoftHiZ(void);
davide.aliprandi@st.com 4:f48e8d87553e 1254 void Powerstep01_CmdSoftStop(void);
davide.aliprandi@st.com 4:f48e8d87553e 1255 void Powerstep01_CmdStepClock(motorDir_t direction);
davide.aliprandi@st.com 4:f48e8d87553e 1256 void Powerstep01_ErrorHandler(uint16_t error);
davide.aliprandi@st.com 4:f48e8d87553e 1257 void Powerstep01_FetchAndClearAllStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1258 uint16_t Powerstep01_GetFetchedStatus(void);
davide.aliprandi@st.com 4:f48e8d87553e 1259 uint32_t Powerstep01_GetFwVersion(void);
davide.aliprandi@st.com 4:f48e8d87553e 1260 int32_t Powerstep01_GetMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1261 int32_t Powerstep01_GetPosition(void);
davide.aliprandi@st.com 4:f48e8d87553e 1262 bool Powerstep01_IsDeviceBusy(void);
davide.aliprandi@st.com 4:f48e8d87553e 1263 uint16_t Powerstep01_ReadStatusRegister(void);
davide.aliprandi@st.com 4:f48e8d87553e 1264 bool Powerstep01_SelectStepMode(motorStepMode_t stepMode);
davide.aliprandi@st.com 4:f48e8d87553e 1265 void Powerstep01_SetHome(void);
davide.aliprandi@st.com 4:f48e8d87553e 1266 void Powerstep01_SetMark(void);
davide.aliprandi@st.com 4:f48e8d87553e 1267 void Powerstep01_WaitForAllDevicesNotBusy(void);
davide.aliprandi@st.com 4:f48e8d87553e 1268 void Powerstep01_WaitWhileActive(void);
davide.aliprandi@st.com 4:f48e8d87553e 1269
davide.aliprandi@st.com 4:f48e8d87553e 1270 /**
davide.aliprandi@st.com 4:f48e8d87553e 1271 * @brief To and from register parameter conversion functions
davide.aliprandi@st.com 4:f48e8d87553e 1272 */
davide.aliprandi@st.com 4:f48e8d87553e 1273 int32_t Powerstep01_ConvertPosition(uint32_t abs_position_reg);
davide.aliprandi@st.com 4:f48e8d87553e 1274
davide.aliprandi@st.com 4:f48e8d87553e 1275 /**
davide.aliprandi@st.com 4:f48e8d87553e 1276 * @brief Functions to initialize the registers
davide.aliprandi@st.com 4:f48e8d87553e 1277 */
davide.aliprandi@st.com 4:f48e8d87553e 1278 void Powerstep01_SetDeviceParamsToGivenValues(powerstep01_init_u_t *initPrm);
davide.aliprandi@st.com 4:f48e8d87553e 1279 void Powerstep01_SetRegisterToPredefinedValues(void);
davide.aliprandi@st.com 4:f48e8d87553e 1280
davide.aliprandi@st.com 4:f48e8d87553e 1281 /**
davide.aliprandi@st.com 4:f48e8d87553e 1282 * @brief Functions to get and set parameters using digital or analog values
davide.aliprandi@st.com 4:f48e8d87553e 1283 */
davide.aliprandi@st.com 4:f48e8d87553e 1284 uint32_t Powerstep01_CmdGetParam(powerstep01_Registers_t param);
davide.aliprandi@st.com 4:f48e8d87553e 1285 void Powerstep01_CmdSetParam(powerstep01_Registers_t param, uint32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1286 float Powerstep01_GetAnalogValue(powerstep01_Registers_t param);
davide.aliprandi@st.com 4:f48e8d87553e 1287 void Powerstep01_QueueCommands(uint8_t command, int32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1288 void Powerstep01_SendCommand(uint8_t command, uint32_t value);
davide.aliprandi@st.com 4:f48e8d87553e 1289 void Powerstep01_SendQueuedCommands(void);
davide.aliprandi@st.com 4:f48e8d87553e 1290 bool Powerstep01_SetAnalogValue(powerstep01_Registers_t param, float value);
davide.aliprandi@st.com 4:f48e8d87553e 1291 void Powerstep01_WriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte);
davide.aliprandi@st.com 4:f48e8d87553e 1292
davide.aliprandi@st.com 4:f48e8d87553e 1293 /**
davide.aliprandi@st.com 4:f48e8d87553e 1294 * @brief Rounding a floating point number to the nearest unsigned integer number.
davide.aliprandi@st.com 4:f48e8d87553e 1295 * @param f The floating point number.
davide.aliprandi@st.com 4:f48e8d87553e 1296 * @retval The nearest unsigned integer number.
davide.aliprandi@st.com 4:f48e8d87553e 1297 */
davide.aliprandi@st.com 4:f48e8d87553e 1298 int round(float f)
davide.aliprandi@st.com 4:f48e8d87553e 1299 {
Davidroid 7:9d772e2a9dbe 1300 if (f >= 0) {
davide.aliprandi@st.com 4:f48e8d87553e 1301 return (int) f + (f - (int) f < 0.5f ? 0 : 1);
Davidroid 7:9d772e2a9dbe 1302 } else {
davide.aliprandi@st.com 4:f48e8d87553e 1303 return (int) f - (f - (int) f < -0.5f ? 1 : 0);
Davidroid 7:9d772e2a9dbe 1304 }
davide.aliprandi@st.com 4:f48e8d87553e 1305 }
davide.aliprandi@st.com 4:f48e8d87553e 1306
davide.aliprandi@st.com 4:f48e8d87553e 1307 /*** Component's I/O Methods ***/
davide.aliprandi@st.com 4:f48e8d87553e 1308
davide.aliprandi@st.com 4:f48e8d87553e 1309 /**
davide.aliprandi@st.com 4:f48e8d87553e 1310 * @brief Utility function to read data from Powerstep01.
davide.aliprandi@st.com 4:f48e8d87553e 1311 * @param[out] pBuffer pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1312 * @param NumBytesToRead number of bytes to read.
davide.aliprandi@st.com 4:f48e8d87553e 1313 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1314 */
davide.aliprandi@st.com 4:f48e8d87553e 1315 status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
davide.aliprandi@st.com 4:f48e8d87553e 1316 {
Davidroid 7:9d772e2a9dbe 1317 if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
davide.aliprandi@st.com 4:f48e8d87553e 1318 return COMPONENT_ERROR;
Davidroid 7:9d772e2a9dbe 1319 }
davide.aliprandi@st.com 4:f48e8d87553e 1320 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1321 }
davide.aliprandi@st.com 4:f48e8d87553e 1322
davide.aliprandi@st.com 4:f48e8d87553e 1323 /**
davide.aliprandi@st.com 4:f48e8d87553e 1324 * @brief Utility function to write data to Powerstep01.
davide.aliprandi@st.com 4:f48e8d87553e 1325 * @param pBuffer pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1326 * @param NumBytesToWrite number of bytes to write.
davide.aliprandi@st.com 4:f48e8d87553e 1327 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1328 */
davide.aliprandi@st.com 4:f48e8d87553e 1329 status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
davide.aliprandi@st.com 4:f48e8d87553e 1330 {
Davidroid 7:9d772e2a9dbe 1331 if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
davide.aliprandi@st.com 4:f48e8d87553e 1332 return COMPONENT_ERROR;
Davidroid 7:9d772e2a9dbe 1333 }
davide.aliprandi@st.com 4:f48e8d87553e 1334 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1335 }
davide.aliprandi@st.com 4:f48e8d87553e 1336
davide.aliprandi@st.com 4:f48e8d87553e 1337 /**
davide.aliprandi@st.com 4:f48e8d87553e 1338 * @brief Utility function to read and write data from/to Powerstep01 at the same time.
davide.aliprandi@st.com 4:f48e8d87553e 1339 * @param[out] pBufferToRead pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1340 * @param pBufferToWrite pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1341 * @param NumBytes number of bytes to read and write.
davide.aliprandi@st.com 4:f48e8d87553e 1342 * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1343 */
davide.aliprandi@st.com 4:f48e8d87553e 1344 status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
davide.aliprandi@st.com 4:f48e8d87553e 1345 {
Davidroid 7:9d772e2a9dbe 1346 if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
davide.aliprandi@st.com 4:f48e8d87553e 1347 return COMPONENT_ERROR;
Davidroid 7:9d772e2a9dbe 1348 }
davide.aliprandi@st.com 4:f48e8d87553e 1349 return COMPONENT_OK;
davide.aliprandi@st.com 4:f48e8d87553e 1350 }
davide.aliprandi@st.com 4:f48e8d87553e 1351
davide.aliprandi@st.com 4:f48e8d87553e 1352 /* ACTION 8 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1353 * Implement here other I/O methods beyond those already implemented *
davide.aliprandi@st.com 4:f48e8d87553e 1354 * above, which are declared extern within the component's header file. *
davide.aliprandi@st.com 4:f48e8d87553e 1355 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1356 /**
davide.aliprandi@st.com 4:f48e8d87553e 1357 * @brief Making the CPU wait.
davide.aliprandi@st.com 4:f48e8d87553e 1358 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1359 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1360 */
davide.aliprandi@st.com 4:f48e8d87553e 1361 void Powerstep01_Board_Delay(uint32_t delay)
davide.aliprandi@st.com 4:f48e8d87553e 1362 {
davide.aliprandi@st.com 4:f48e8d87553e 1363 wait_ms(delay);
davide.aliprandi@st.com 4:f48e8d87553e 1364 }
davide.aliprandi@st.com 4:f48e8d87553e 1365
davide.aliprandi@st.com 4:f48e8d87553e 1366 /**
davide.aliprandi@st.com 4:f48e8d87553e 1367 * @brief Enabling interrupts.
davide.aliprandi@st.com 4:f48e8d87553e 1368 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1369 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1370 */
davide.aliprandi@st.com 4:f48e8d87553e 1371 void Powerstep01_Board_EnableIrq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1372 {
davide.aliprandi@st.com 4:f48e8d87553e 1373 __enable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1374 }
davide.aliprandi@st.com 4:f48e8d87553e 1375
davide.aliprandi@st.com 4:f48e8d87553e 1376 /**
davide.aliprandi@st.com 4:f48e8d87553e 1377 * @brief Disabling interrupts.
davide.aliprandi@st.com 4:f48e8d87553e 1378 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1379 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1380 */
davide.aliprandi@st.com 4:f48e8d87553e 1381 void Powerstep01_Board_DisableIrq(void)
davide.aliprandi@st.com 4:f48e8d87553e 1382 {
davide.aliprandi@st.com 4:f48e8d87553e 1383 __disable_irq();
davide.aliprandi@st.com 4:f48e8d87553e 1384 }
davide.aliprandi@st.com 4:f48e8d87553e 1385
davide.aliprandi@st.com 4:f48e8d87553e 1386 /**
davide.aliprandi@st.com 4:f48e8d87553e 1387 * @brief Initialising the PWM.
davide.aliprandi@st.com 4:f48e8d87553e 1388 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1389 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1390 */
davide.aliprandi@st.com 4:f48e8d87553e 1391 void Powerstep01_Board_StepClockInit(void) {}
davide.aliprandi@st.com 4:f48e8d87553e 1392
davide.aliprandi@st.com 4:f48e8d87553e 1393 /**
davide.aliprandi@st.com 4:f48e8d87553e 1394 * @brief Exit the device from reset mode.
davide.aliprandi@st.com 4:f48e8d87553e 1395 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1396 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1397 */
Davidroid 5:e7dca8c6ae9f 1398 void Powerstep01_Board_ReleaseReset(void)
davide.aliprandi@st.com 4:f48e8d87553e 1399 {
davide.aliprandi@st.com 4:f48e8d87553e 1400 standby_reset = 1;
davide.aliprandi@st.com 4:f48e8d87553e 1401 }
davide.aliprandi@st.com 4:f48e8d87553e 1402
davide.aliprandi@st.com 4:f48e8d87553e 1403 /**
davide.aliprandi@st.com 4:f48e8d87553e 1404 * @brief Put the device in reset mode.
davide.aliprandi@st.com 4:f48e8d87553e 1405 * @param None.
davide.aliprandi@st.com 4:f48e8d87553e 1406 * @retval None.
davide.aliprandi@st.com 4:f48e8d87553e 1407 */
davide.aliprandi@st.com 4:f48e8d87553e 1408 void Powerstep01_Board_reset(void)
davide.aliprandi@st.com 4:f48e8d87553e 1409 {
davide.aliprandi@st.com 4:f48e8d87553e 1410 standby_reset = 0;
davide.aliprandi@st.com 4:f48e8d87553e 1411 }
davide.aliprandi@st.com 4:f48e8d87553e 1412
davide.aliprandi@st.com 4:f48e8d87553e 1413 /**
davide.aliprandi@st.com 4:f48e8d87553e 1414 * @brief Writing and reading bytes to/from the component through the SPI at the same time.
davide.aliprandi@st.com 4:f48e8d87553e 1415 * @param pByteToTransmit pointer to the buffer of data to send.
davide.aliprandi@st.com 4:f48e8d87553e 1416 * @param[out] pReceivedByte pointer to the buffer to read data into.
davide.aliprandi@st.com 4:f48e8d87553e 1417 * @retval "0" in case of success, "1" otherwise.
davide.aliprandi@st.com 4:f48e8d87553e 1418 */
davide.aliprandi@st.com 4:f48e8d87553e 1419 uint8_t Powerstep01_Board_SpiWriteBytes(uint8_t *pByteToTransmit, uint8_t *pReceivedByte)
davide.aliprandi@st.com 4:f48e8d87553e 1420 {
davide.aliprandi@st.com 4:f48e8d87553e 1421 return (uint8_t) (ReadWrite(pReceivedByte, pByteToTransmit, numberOfDevices) == COMPONENT_OK ? 0 : 1);
davide.aliprandi@st.com 4:f48e8d87553e 1422 }
nucleosam 0:00a3c3f5a8f0 1423
nucleosam 0:00a3c3f5a8f0 1424
davide.aliprandi@st.com 4:f48e8d87553e 1425 /*** Component's Instance Variables ***/
nucleosam 0:00a3c3f5a8f0 1426
davide.aliprandi@st.com 4:f48e8d87553e 1427 /* ACTION 9 --------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1428 * Declare here interrupt related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1429 * Note that interrupt handling is platform dependent, see *
davide.aliprandi@st.com 4:f48e8d87553e 1430 * "Interrupt Related Methods" above. *
davide.aliprandi@st.com 4:f48e8d87553e 1431 * *
davide.aliprandi@st.com 4:f48e8d87553e 1432 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1433 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1434 * InterruptIn feature_irq; *
davide.aliprandi@st.com 4:f48e8d87553e 1435 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1436 /* Flag Interrupt. */
davide.aliprandi@st.com 4:f48e8d87553e 1437 InterruptIn flag_irq;
davide.aliprandi@st.com 4:f48e8d87553e 1438
davide.aliprandi@st.com 4:f48e8d87553e 1439 /* Busy Interrupt. */
davide.aliprandi@st.com 4:f48e8d87553e 1440 InterruptIn busy_irq;
davide.aliprandi@st.com 4:f48e8d87553e 1441
davide.aliprandi@st.com 4:f48e8d87553e 1442 /* ACTION 10 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1443 * Declare here other pin related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1444 * *
davide.aliprandi@st.com 4:f48e8d87553e 1445 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1446 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1447 * DigitalOut standby_reset; *
davide.aliprandi@st.com 4:f48e8d87553e 1448 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1449 /* Standby/reset pin. */
davide.aliprandi@st.com 4:f48e8d87553e 1450 DigitalOut standby_reset;
davide.aliprandi@st.com 4:f48e8d87553e 1451
davide.aliprandi@st.com 4:f48e8d87553e 1452 /* Pulse Width Modulation pin. */
davide.aliprandi@st.com 4:f48e8d87553e 1453 PwmOut pwm;
nucleosam 0:00a3c3f5a8f0 1454
davide.aliprandi@st.com 4:f48e8d87553e 1455 /* ACTION 11 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1456 * Declare here communication related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1457 * *
davide.aliprandi@st.com 4:f48e8d87553e 1458 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1459 * + mbed: *
davide.aliprandi@st.com 4:f48e8d87553e 1460 * DigitalOut ssel; *
davide.aliprandi@st.com 4:f48e8d87553e 1461 * DevSPI &dev_spi; *
davide.aliprandi@st.com 4:f48e8d87553e 1462 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1463 /* Configuration. */
davide.aliprandi@st.com 4:f48e8d87553e 1464 DigitalOut ssel;
davide.aliprandi@st.com 4:f48e8d87553e 1465
davide.aliprandi@st.com 4:f48e8d87553e 1466 /* IO Device. */
davide.aliprandi@st.com 4:f48e8d87553e 1467 DevSPI &dev_spi;
davide.aliprandi@st.com 4:f48e8d87553e 1468
davide.aliprandi@st.com 4:f48e8d87553e 1469 /* ACTION 12 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1470 * Declare here identity related variables, if needed. *
davide.aliprandi@st.com 4:f48e8d87553e 1471 * Note that there should be only a unique identifier for each component, *
davide.aliprandi@st.com 4:f48e8d87553e 1472 * which should be the "who_am_i" parameter. *
davide.aliprandi@st.com 4:f48e8d87553e 1473 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1474 /* Identity */
davide.aliprandi@st.com 4:f48e8d87553e 1475 uint8_t who_am_i;
nucleosam 0:00a3c3f5a8f0 1476
davide.aliprandi@st.com 4:f48e8d87553e 1477 /* ACTION 13 -------------------------------------------------------------*
davide.aliprandi@st.com 4:f48e8d87553e 1478 * Declare here the component's static and non-static data, one variable *
davide.aliprandi@st.com 4:f48e8d87553e 1479 * per line. *
davide.aliprandi@st.com 4:f48e8d87553e 1480 * *
davide.aliprandi@st.com 4:f48e8d87553e 1481 * Example: *
davide.aliprandi@st.com 4:f48e8d87553e 1482 * float measure; *
davide.aliprandi@st.com 4:f48e8d87553e 1483 * int instance_id; *
davide.aliprandi@st.com 4:f48e8d87553e 1484 * static int number_of_instances; *
davide.aliprandi@st.com 4:f48e8d87553e 1485 *------------------------------------------------------------------------*/
davide.aliprandi@st.com 4:f48e8d87553e 1486 /* Data. */
davide.aliprandi@st.com 4:f48e8d87553e 1487 void (*errorHandlerCallback)(uint16_t error);
davide.aliprandi@st.com 4:f48e8d87553e 1488 uint8_t deviceInstance;
nucleosam 0:00a3c3f5a8f0 1489
davide.aliprandi@st.com 4:f48e8d87553e 1490 /* Static data. */
davide.aliprandi@st.com 4:f48e8d87553e 1491 static uint8_t numberOfDevices;
davide.aliprandi@st.com 4:f48e8d87553e 1492 static uint8_t spiTxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 4:f48e8d87553e 1493 static uint8_t spiRxBursts[POWERSTEP01_CMD_ARG_MAX_NB_BYTES][MAX_NUMBER_OF_DEVICES];
davide.aliprandi@st.com 4:f48e8d87553e 1494
davide.aliprandi@st.com 4:f48e8d87553e 1495
davide.aliprandi@st.com 4:f48e8d87553e 1496 public:
davide.aliprandi@st.com 4:f48e8d87553e 1497
davide.aliprandi@st.com 4:f48e8d87553e 1498 /* Static data. */
davide.aliprandi@st.com 4:f48e8d87553e 1499 static bool spiPreemptionByIsr;
davide.aliprandi@st.com 4:f48e8d87553e 1500 static bool isrFlag;
davide.aliprandi@st.com 4:f48e8d87553e 1501
davide.aliprandi@st.com 4:f48e8d87553e 1502 };
davide.aliprandi@st.com 4:f48e8d87553e 1503
davide.aliprandi@st.com 4:f48e8d87553e 1504 #endif // __POWERSTEP01_CLASS_H
nucleosam 0:00a3c3f5a8f0 1505
nucleosam 0:00a3c3f5a8f0 1506 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/