L6470.cpp

00001 /**
00002  ******************************************************************************
00003  * @file       l6470_class.cpp
00004  * @date       01/10/2014 12:00:00
00005  * @brief      This file provides set of firmware functions to manage the
00006  *             L6470.
00007  ******************************************************************************
00008  *
00009  * COPYRIGHT(c) 2014 STMicroelectronics
00010  *
00011  * Redistribution and use in source and binary forms, with or without modification,
00012  * are permitted provided that the following conditions are met:
00013  *   1. Redistributions of source code must retain the above copyright notice,
00014  *      this list of conditions and the following disclaimer.
00015  *   2. Redistributions in binary form must reproduce the above copyright notice,
00016  *      this list of conditions and the following disclaimer in the documentation
00017  *      and/or other materials provided with the distribution.
00018  *   3. Neither the name of STMicroelectronics nor the names of its contributors
00019  *      may be used to endorse or promote products derived from this software
00020  *      without specific prior written permission.
00021  *
00022  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00023  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00024  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00025  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
00026  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
00027  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
00028  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
00030  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
00031  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00032  *
00033  ******************************************************************************
00034  */
00035 
00036 
00037 /* Generated with STM32CubeTOO -----------------------------------------------*/
00038 
00039 
00040 /* Revision ------------------------------------------------------------------*/
00041 /*
00042     Repository:       http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
00043     Branch/Trunk/Tag: trunk
00044     Based on:         X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
00045     Revision:         0
00046 */
00047 
00048 
00049 /* Includes ------------------------------------------------------------------*/
00050 
00051 #include "L6470.h"
00052 
00053 
00054 /* Variables -----------------------------------------------------------------*/
00055 
00056 /* Number of instantiated devices on an expansion board. */
00057 uint8_t L6470::number_of_devices = 0;
00058 
00059 /* SPI Transmission for Daisy-Chain Configuration. */
00060 eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
00061 sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
00062 uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00063 uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00064 
00065 /////////////////////////////////////////////////////////////////////////////////////////////////////Fabian
00066 uint8_t L6470B::number_of_devices1 = 0;
00067 eFlagStatus_t L6470B::L6470_DaisyChain_HalfPrepared;
00068 sL6470_AppCmdPkg_t L6470B::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
00069 uint8_t L6470B::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00070 uint8_t L6470B::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
00071 
00072 ////////////////////////////////////////////////////////////////////////////////////////////////////
00073 
00074 
00075 /**
00076   * @brief Array whose elements are a structure in which store information about
00077   *        the L6470 Registers (the address, the names, the length in bits, the
00078   *        reset value)
00079   */
00080 const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
00081   {0x01 , "ABS_POS",   22, 3, 0x000000},  //!< Current position
00082   {0x02 , "EL_POS",     9, 2, 0x000},     //!< Electrical position
00083   {0x03 , "MARK",      22, 3, 0x000000},  //!< Mark position
00084   {0x04 , "SPEED",     20, 3, 0x0000},    //!< Current speed
00085   {0x05 , "ACC",       12, 2, 0x08A},     //!< Acceleration
00086   {0x06 , "DEC",       12, 2, 0x08A},     //!< Deceleration
00087   {0x07 , "MAX_SPEED", 10, 2, 0x041},     //!< Maximum speed
00088   {0x08 , "MIN_SPEED", 13, 2, 0x000},     //!< Minimum speed
00089   {0x15 , "FS_SPD",    10, 2, 0x027},     //!< Full-step speed
00090   {0x09 , "KVAL_HOLD",  8, 1, 0x29},      //!< Holding KVAL
00091   {0x0A , "KVAL_RUN",   8, 1, 0x29},      //!< Constant speed KVAL
00092   {0x0B , "KVAL_ACC",   8, 1, 0x29},      //!< Acceleration starting KVAL
00093   {0x0C , "KVAL_DEC",   8, 1, 0x29},      //!< Deceleration starting KVAL
00094   {0x0D , "INT_SPEED", 14, 2, 0x0408},    //!< Intersect speed
00095   {0x0E , "ST_SLP",     8, 1, 0x19},      //!< Start slope
00096   {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      //!< Acceleration final slope
00097   {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      //!< Deceleration final slope
00098   {0x11 , "K_THERM",    4, 1, 0x0},       //!< Thermal compensation factor
00099   {0x12 , "ADC_OUT",    5, 1, 0x00},      //!< ADC output, (the reset value is according to startup conditions)
00100   {0x13 , "OCD_TH",     4, 1, 0x8},       //!< OCD threshold
00101   {0x14 , "STALL_TH",   7, 1, 0x40},      //!< STALL threshold
00102   {0x16 , "STEP_MODE",  8, 1, 0x7},       //!< Step mode
00103   {0x17 , "ALARM_EN",   8, 1, 0xFF},      //!< Alarm enable
00104   {0x18 , "CONFIG",    16, 2, 0x2E88},    //!< IC configuration
00105   {0x19 , "STATUS",    16, 2, 0x0000}     //!< Status, (the reset value is according to startup conditions)
00106 };
00107 
00108 /**
00109   * @brief Array whose elements are a structure in which store information about
00110   *        the L6470 Application Commands (the mnemonic name, the number of
00111   *        needed parameters, the related funtion to call)
00112   */
00113 const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] =  {
00114   {"NOP",         0x00, 0},
00115   {"SETPARAM",    0x00, 2},
00116   {"GETPARAM",    0x20, 1},
00117   {"RUN",         0x50, 2},
00118   {"STEPCLOCK",   0x58, 1},
00119   {"MOVE",        0x40, 2},
00120   {"GOTO",        0x60, 1},
00121   {"GOTO_DIR",    0x68, 2},
00122   {"GOUNTIL",     0x82, 3},
00123   {"RELEASESW",   0x92, 2},
00124   {"GOHOME",      0x70, 0},
00125   {"GOMARK",      0x78, 0},
00126   {"RESETPOS",    0xD8, 0},
00127   {"RESETDEVICE", 0xC0, 0},
00128   {"SOFTSTOP",    0xB0, 0},
00129   {"HARDSTOP",    0xB8, 0},
00130   {"SOFTHIZ",     0xA0, 0},
00131   {"HARDHIZ",     0xA8, 0},
00132   {"GETSTATUS",   0xD0, 0}
00133 };
00134 
00135 /**
00136   * @brief The mnemonic names for the L6470 direction
00137   */
00138 const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
00139   {"REV", 0x00},  //!< Reverse direction
00140   {"FWD", 0x01}   //!< Forward direction
00141 };
00142 
00143 /**
00144   * @brief Action taken about ABS_POS register
00145   */
00146 const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
00147   {"RST", 0x00},  //!< ABS_POS register is reset
00148   {"CPY", 0x01}   //!< ABS_POS register value is copied into the MARK register
00149 };
00150 
00151 /* End of L6470_Private_Constants */
00152 
00153 /**
00154   * @defgroup   L6470_Private_Variables
00155   * @brief      L6470 Private Variables.
00156   * @{
00157   */
00158 
00159 /* End of L6470_Private_Variables */
00160 
00161 
00162 /**
00163   * @addtogroup L6470_Private_Functions
00164   * @{
00165   */
00166 
00167 
00168 /* Methods -------------------------------------------------------------------*/
00169 
00170 /**
00171   * @brief  Reset the structure used to store the identifier of the L6470
00172   *         application command and its the needed parameters.
00173   * @param  pL6470_AppCmdPkg   The structure to be reset.
00174   */
00175 void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
00176 {
00177   uint8_t id;
00178   
00179   for(id=0; id<L6470DAISYCHAINSIZE; id++)
00180   {
00181     (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
00182     (pL6470_AppCmdPkg+id)->p1=0;
00183     (pL6470_AppCmdPkg+id)->p2=0;
00184     (pL6470_AppCmdPkg+id)->p3=0;
00185   }
00186 }
00187 
00188 /**
00189   * @brief  Fill the structure used to store the identifier of the L6470
00190   *         application command and its the needed parameters.
00191   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
00192   * @param  pL6470_AppCmdPkg  The structure to be filled.
00193   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
00194   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
00195   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
00196   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
00197   */
00198 void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
00199 {
00200   (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
00201   (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
00202   (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
00203   (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
00204 }
00205 
00206 /**
00207   * @brief  This function will fill the column of the L6470_AppCmdPkg related
00208   *         the L6470 to be addressed inside the daisy chain.
00209   *
00210   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
00211   * @param  pL6470_AppCmdPkg  Pointer to the sL6470_AppCmdPkg_t to be filled.
00212   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
00213   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
00214   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
00215   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
00216   */
00217 void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
00218 {
00219   if(!L6470_DaisyChain_HalfPrepared)
00220   {
00221     L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
00222     L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
00223   }
00224   
00225   L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
00226 }
00227 
00228 /**
00229   * @brief  This function will translate the data inside the L6470_AppCmdPkg into
00230   *         the right data to be sent via SPI to the L6470 daisy chain.
00231   *
00232   * @param  pL6470_AppCmdPkg              Pointer to the sL6470_AppCmdPkg_t to be filled.
00233   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the structure used by SPI to send the commands.
00234   */
00235 void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
00236 {
00237   uint8_t PkgId;
00238   uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
00239   uint8_t spibyte;
00240   
00241   /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
00242   uint8_t i = 0;
00243   for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
00244     for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
00245       *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
00246 
00247   for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
00248   {
00249     /* Build the 1st bytes to transmit with the binary code of the command */
00250     *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
00251     
00252     /* Perform the related L6470_AppCmdId */
00253     switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
00254     {
00255     case L6470_NOP_ID:
00256       break;
00257     case L6470_SETPARAM_ID:
00258       /* Build the 1st bytes to transmit (PARAM) */
00259       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
00260       
00261       /* The length, in byte, of this register (PARAM) is... */
00262       PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
00263       
00264       /* Build the others bytes to transmit (VALUE) */
00265       for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
00266       {
00267         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
00268       }
00269       break;
00270     case L6470_GETPARAM_ID:
00271       /* Build the 1st bytes to transmit (PARAM) */
00272       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
00273       break;
00274     case L6470_RUN_ID:
00275       /* Build the 1st bytes to transmit (DIR) */
00276       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00277       
00278       /* Build the others bytes to transmit (SPD) */
00279       for (spibyte=1; spibyte<(3+1); spibyte++)
00280       {
00281         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00282       }
00283       break;
00284     case L6470_STEPCLOCK_ID:
00285       /* Build the 1st bytes to transmit (DIR) */
00286       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00287       break;
00288     case L6470_MOVE_ID:
00289       /* Build the 1st bytes to transmit (DIR) */
00290       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00291       
00292       /* Build the others bytes to transmit (N_STEP) */
00293       for (spibyte=1; spibyte<(3+1); spibyte++)
00294       {
00295         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00296       }      
00297       break;
00298     case L6470_GOTO_ID:
00299       /* Build the others bytes to transmit (ABS_POS) */
00300       for (spibyte=1; spibyte<(3+1); spibyte++)
00301       {
00302         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
00303       }
00304       break;
00305     case L6470_GOTODIR_ID:
00306       /* Build the 1st bytes to transmit (DIR) */
00307       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
00308       
00309       /* Build the others bytes to transmit (ABS_POS) */
00310       for (spibyte=1; spibyte<(3+1); spibyte++)
00311       {
00312         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
00313       }
00314       break;
00315     case L6470_GOUNTIL_ID:
00316       /* Build the 1st bytes to transmit (ACT) */
00317       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
00318       /* Build the 1st bytes to transmit (DIR) */
00319       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
00320       
00321       /* Build the others bytes to transmit (SPD) */
00322       for (spibyte=1; spibyte<(3+1); spibyte++)
00323       {
00324         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
00325       }
00326       break;
00327     case L6470_RELEASESW_ID:
00328       /* Build the 1st bytes to transmit (ACT) */
00329       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
00330       /* Build the 1st bytes to transmit (DIR) */
00331       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
00332       break;
00333     case L6470_GOHOME_ID:
00334       break;
00335     case L6470_GOMARK_ID:
00336       break;
00337     case L6470_RESETPOS_ID:
00338       break;
00339     case L6470_RESETDEVICE_ID:
00340       break;
00341     case L6470_SOFTSTOP_ID:
00342       break;
00343     case L6470_HARDSTOP_ID:
00344       break;
00345     case L6470_SOFTHIZ_ID:
00346       break;
00347     case L6470_HARDHIZ_ID:
00348       break;
00349     case L6470_GETSTATUS_ID:
00350       break;
00351     }
00352   }
00353 }
00354 
00355 /* End of L6470_Private_Functions */
00356 
00357 /**
00358   * @addtogroup L6470_Exported_Functions
00359   * @{
00360   */
00361 
00362 /**
00363   * @addtogroup L6470_Conversion_Functions
00364   * @brief      The following functions act just on one driver inside the L6470
00365   *             daisy chain. The command is immediately sent.
00366   * @{
00367   */
00368 
00369  /**
00370   * @brief  Convert the absolute position as 2's complement format into the signed number.
00371   * 
00372   * @param  AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
00373   * @retval Position    The position as signed number.
00374   */
00375 int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
00376 {
00377   if (AbsPos > L6470_MAX_POSITION)
00378     return (AbsPos - (L6470_POSITION_RANGE + 1));
00379   else
00380     return AbsPos;
00381 }
00382 
00383 /**
00384   * @brief  Convert the position as signed number into absolute position as 2's complement format.
00385   * 
00386   * @param  Position    The position as signed number.
00387   * @retval AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
00388   */
00389 uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
00390 {
00391   if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
00392     return Position;
00393   else
00394   {
00395     if ((Position >= L6470_MIN_POSITION) && (Position < 0))
00396       return (Position + (L6470_POSITION_RANGE + 1));
00397     else
00398       return (L6470_POSITION_RANGE + 1);        // OVF
00399   }
00400 }
00401 
00402 /**
00403   * @brief  Convert the SPEED register value into step/s.
00404   * 
00405   * @param  Speed       The SPEED register value.
00406   * @retval step/s      The speed as step/s.
00407   */
00408 float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
00409 {
00410   return (Speed * ((float)14.9012e-3));
00411 }
00412 
00413 /**
00414   * @brief  Convert the speed as step/s into a right value for SPEED register.
00415   * 
00416   * @param  step/s      The speed as step/s.
00417   * @retval Speed       The SPEED register value.
00418   */
00419 uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
00420 {
00421   if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
00422     return (uint32_t)(Step_s / ((float)14.9012e-3));
00423   else
00424     return 0;   // Warning
00425 }
00426 
00427 /**
00428   * @brief  Convert the ACC register value into step/(s^2).
00429   * 
00430   * @param  Acc         The ACC register value.
00431   * @retval step/(s^2)  The acceleration as step/(s^2).
00432   */
00433 float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
00434 {
00435   if (Acc <= L6470_MAX_ACC)
00436     return (Acc * ((float)1.4552e1));
00437   else
00438     return 0;   // Warning
00439 }
00440 
00441 /**
00442   * @brief  Convert the acceleartion as step/(s^2) into a right value for ACC register.
00443   * 
00444   * @param  step/(s^2)  The acceleration as step/(s^2).
00445   * @retval Acc         The ACC register value.
00446   */
00447 uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
00448 {
00449   if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
00450     return (uint16_t)(Step_s2 / ((float)1.4552e1));
00451   else
00452     return 0;   // Warning
00453 }
00454 
00455 /**
00456   * @brief  Convert the DEC register value into step/(s^2).
00457   * 
00458   * @param  Dec         The DEC register value.
00459   * @retval step/(s^2)  The deceleration as step/(s^2).
00460   */
00461 float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
00462 {
00463   if (Dec <= L6470_MAX_DEC)
00464     return (Dec * ((float)1.4552e1));
00465   else
00466     return 0;   // Warning
00467 }
00468 
00469 /**
00470   * @brief  Convert the deceleration as step/(s^2) into a right value for DEC register.
00471   * 
00472   * @param  step/(s^2)  The deceleration as step/(s^2).
00473   * @retval Dec         The DEC register value.
00474   */
00475 uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
00476 {
00477   if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
00478     return (uint16_t)(Step_s2 / ((float)1.4552e1));
00479   else
00480     return 0;   // Warning
00481 }
00482 
00483 /**
00484   * @brief  Convert the MAX_SPEED register value into step/s.
00485   * 
00486   * @param  MaxSpeed    The MAX_SPEED register value.
00487   * @retval step/s      The max speed as step/s.
00488   */
00489 float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
00490 {
00491   if (MaxSpeed <= L6470_MAX_MAX_SPEED)
00492     return (MaxSpeed * ((float)15.2588));
00493   else
00494     return 0;   // Warning
00495 }
00496 
00497 /**
00498   * @brief  Convert the max speed as step/s into a right value for MAX_SPEED register.
00499   * 
00500   * @param  step/s      The max speed as step/s.
00501   * @retval MaxSpeed    The MAX_SPEED register value.
00502   */
00503 uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
00504 {
00505   if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
00506     return (uint16_t)(Step_s / ((float)15.2588));
00507   else
00508     return 0;   // Warning
00509 }
00510 
00511 /**
00512   * @brief  Convert the MIN_SPEED register value into step/s.
00513   * 
00514   * @param  MinSpeed    The MIN_SPEED register value.
00515   * @retval step/s      The min speed as step/s.
00516   */
00517 float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
00518 {
00519   if (MinSpeed <= L6470_MAX_MIN_SPEED)
00520     return (MinSpeed * ((float)238.4186e-3));
00521   else
00522     return 0;   // Warning
00523 }
00524 
00525 /**
00526   * @brief  Convert the min speed as step/s into a right value for MIN_SPEED register.
00527   * 
00528   * @param  step/s      The min speed as step/s.
00529   * @retval MinSpeed    The MIN_SPEED register value.
00530   */
00531 uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
00532 {
00533   if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
00534     return (uint16_t)(Step_s / ((float)238.4186e-3));
00535   else
00536     return 0;   // Warning
00537 }
00538 
00539 /**
00540   * @brief  Convert the FS_SPD register value into step/s.
00541   * 
00542   * @param  FsSpd       The FS_SPD register value.
00543   * @retval step/s      The full-step speed as step/s.
00544   */
00545 float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
00546 {
00547   if (FsSpd <= L6470_MAX_FS_SPD)
00548     return ((FsSpd+0.5) * ((float)15.25));
00549   else
00550     return 0;   // Warning
00551 }
00552 
00553 /**
00554   * @brief  Convert the full-step speed as step/s into a right value for FS_SPD register.
00555   * 
00556   * @param  step/s      The full-step speed as step/s.
00557   * @retval FsSpd       The FS_SPD register value.
00558   */
00559 uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
00560 {
00561   if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
00562     return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
00563   else
00564     return 0;   // Warning
00565 }
00566 
00567 /**
00568   * @brief  Convert the INT_SPEED register value into step/s.
00569   * 
00570   * @param  IntSpeed    The INT_SPEED register value.
00571   * @retval step/s      The intersect speed as step/s.
00572   */
00573 float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
00574 {
00575   if (IntSpeed <= L6470_MAX_INT_SPEED)
00576     return (IntSpeed * ((float)59.6046e-3));
00577   else
00578     return 0;   // Warning
00579 }
00580 
00581 /**
00582   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00583   * 
00584   * @param  step/s      The full-step speed as step/s.
00585   * @retval FsSpd       The FS_SPD register value.
00586   */
00587 uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
00588 {
00589   if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
00590     return (uint16_t)(Step_s / ((float)59.6046e-3));
00591   else
00592     return 0;   // Warning
00593 }
00594 
00595 /**
00596   * @brief  Convert the ST_SLP register value into s/step.
00597   * 
00598   * @param  StartSlope  The ST_SLP register value.
00599   * @retval s/step      The start slope as s/step.
00600   */
00601 float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
00602 {
00603 //  if (StSlp <= L6470_MAX_ST_SLP)
00604     return (StSlp * ((float)1.5686e-5));
00605 //  else
00606 //    return 0;   // Warning
00607 }
00608 
00609 /**
00610   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00611   * 
00612   * @param  step/s      The full-step speed as step/s.
00613   * @retval FsSpd       The FS_SPD register value.
00614   */
00615 uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
00616 {
00617   if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
00618     return (uint8_t)(s_Step / ((float)1.5686e-5));
00619   else
00620     return 0;   // Warning
00621 }
00622 
00623 /**
00624   * @brief  Convert the INT_SPEED register value into step/s.
00625   * 
00626   * @param  IntSpeed    The INT_SPEED register value.
00627   * @retval step/s      The intersect speed as step/s.
00628   */
00629 float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
00630 {
00631 //  if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
00632     return (FnSlpAcc * ((float)1.5686e-5));
00633 //  else
00634 //    return 0;   // Warning
00635 }
00636 
00637 /**
00638   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00639   * 
00640   * @param  step/s      The full-step speed as step/s.
00641   * @retval FsSpd       The FS_SPD register value.
00642   */
00643 uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
00644 {
00645   if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
00646     return (uint8_t)(s_Step / ((float)1.5686e-5));
00647   else
00648     return 0;   // Warning
00649 }
00650 
00651 /**
00652   * @brief  Convert the INT_SPEED register value into step/s.
00653   * 
00654   * @param  IntSpeed    The INT_SPEED register value.
00655   * @retval step/s      The intersect speed as step/s.
00656   */
00657 float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
00658 {
00659 //  if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
00660     return (FnSlpDec * ((float)1.5686e-5));
00661 //  else
00662 //    return 0;   // Warning
00663 }
00664 
00665 /**
00666   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
00667   * 
00668   * @param  step/s      The full-step speed as step/s.
00669   * @retval FsSpd       The FS_SPD register value.
00670   */
00671 uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
00672 {
00673   if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
00674     return (uint8_t)(s_Step / ((float)1.5686e-5));
00675   else
00676     return 0;   // Warning
00677 }
00678 
00679 /**
00680   * @brief  Convert the OCD_TH register value into mA.
00681   * 
00682   * @param  OcdTh       The OCD_TH register value.
00683   * @retval mA          The overcurrent threshold as mA.
00684   */
00685 float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
00686 {
00687   if (OcdTh <= L6470_MAX_OCD_TH)
00688     return ((OcdTh+1) * ((float)375));
00689   else
00690     return 0;   // Warning
00691 }
00692 
00693 /**
00694   * @brief  Convert the overcurrent threshold as mA into a right value for OCD_TH register.
00695   * 
00696   * @param  mA          The overcurrent threshold as mA.
00697   * @retval OcdTh       The OCD_TH register value.
00698   */
00699 uint8_t L6470::L6470_mA_2_OcdTh(float mA)
00700 {
00701   float result, decimal;
00702   
00703   if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
00704   {
00705     result = (mA / ((float)375));
00706     decimal = result - (uint8_t)result;
00707     
00708     if (decimal < (float)0.5)
00709       return ((uint8_t)result - 1);
00710     else
00711       return ((uint8_t)result);    
00712   }
00713   else
00714     return 0;   // Warning
00715 }
00716 
00717 /**
00718   * @brief  Convert the STALL_TH register value into mA.
00719   * 
00720   * @param  StallTh     The STALL_TH register value.
00721   * @retval mA          The stall detection threshold as mA.
00722   */
00723 float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
00724 {
00725   if (StallTh <= L6470_MAX_STALL_TH)
00726     return ((StallTh+1) * ((float)31.25));
00727   else
00728     return 0;   // Warning
00729 }
00730 
00731 /**
00732   * @brief  Convert the stall detection threshold as mA into a right value for STALL_TH register.
00733   * 
00734   * @param  mA          The stall detection threshold as mA.
00735   * @retval StallTh     The STALL_TH register value.
00736   */
00737 uint8_t L6470::L6470_mA_2_StallTh(float mA)
00738 {
00739   float result, decimal;
00740   
00741   if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
00742   {
00743     result = (mA / ((float)31.25));
00744     decimal = result - (uint8_t)result;
00745     
00746     if (decimal < (float)0.5)
00747       return ((uint8_t)result - 1);
00748     else
00749       return ((uint8_t)result);    
00750   }
00751   else
00752     return 0;   // Warning
00753 }
00754 
00755 /* End of L6470_Conversion_Functions */
00756 
00757 /**
00758   * @addtogroup L6470_AppCMDs
00759   * @{
00760   */
00761 
00762 /**
00763   * @brief  SetParam command sets the register value equal to a new value.
00764   * 
00765   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
00766   * @param  Value         The new value.
00767   */
00768 void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
00769 {
00770   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
00771   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00772   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00773 }
00774 
00775 /**
00776   * @brief  GetParam command reads the register value.
00777   * 
00778   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
00779   * 
00780   * @retval ReceivedValue The register value.
00781   */
00782 uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
00783 {
00784   uint8_t ValueLengthByte;
00785   uint32_t ReceivedValue;
00786 
00787   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
00788   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00789   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00790   
00791   ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
00792   
00793   ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
00794   
00795   return ReceivedValue;
00796 }
00797 
00798 /**
00799   * @brief  Run command produces a motion at fixed speed.
00800   * 
00801   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00802   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
00803   */
00804 void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
00805 {
00806   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
00807   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00808   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00809 }
00810 
00811 /**
00812   * @brief  StepClock command switches the device in Step-clock mode.
00813   * 
00814   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00815   */
00816 void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
00817 {
00818   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
00819   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00820   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00821 }
00822 
00823 /**
00824   * @brief  Move command produces a motion of N_STEP microsteps.
00825   * 
00826   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00827   * @param  N_Step        The number of microsteps.
00828   */
00829 void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
00830 {
00831   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
00832   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00833   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00834 }
00835 
00836 /**
00837   * @brief  GoTo command produces a motion to ABS_POS absolute position through the shortest path.
00838   * 
00839   * @param  AbsPos        The target absolute position.
00840   */
00841 void L6470::L6470_GoTo(uint32_t AbsPos)
00842 {
00843   if (AbsPos <= L6470_POSITION_RANGE)
00844   {
00845     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
00846     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00847     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00848   }
00849 }
00850 
00851 /**
00852   * @brief  GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
00853   * 
00854   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00855   * @param  AbsPos        The target absolute position.
00856   */
00857 void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
00858 {
00859   if (AbsPos <= L6470_POSITION_RANGE)
00860   {
00861     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
00862     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00863     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00864   }
00865 }
00866 
00867 /**
00868   * @brief  GoUntil command produces a motion at fixed speed imposing a direction
00869   *         until an external switch turn-on event occurs.
00870   * 
00871   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
00872   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00873   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
00874   */
00875 void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
00876 {
00877   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
00878   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00879   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00880 }
00881 
00882 /**
00883   * @brief  ReleaseSW command produces a motion at minimum speed imposing a direction
00884   *         until SW is released.
00885   * 
00886   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
00887   * @param  L6470_DirId   The identifier of the L6470 motion direction.
00888   */
00889 void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
00890 {
00891   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
00892   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00893   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00894 }
00895 
00896 /**
00897   * @brief  GoHome command produces a motion to the HOME position (zero position)
00898   *         via the shortest path.
00899   * 
00900   */
00901 void L6470::L6470_GoHome(void)
00902 {
00903   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
00904   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00905   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00906 }
00907 
00908 /**
00909   * @brief  GoMark command produces a motion to the MARK position performing the
00910   *         minimum path.
00911   * 
00912   */
00913 void L6470::L6470_GoMark(void)
00914 {
00915   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
00916   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00917   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00918 }
00919 
00920 /**
00921   * @brief  ResetPos command resets the ABS_POS register to zero.
00922   * 
00923   */
00924 void L6470::L6470_ResetPos(void)
00925 {
00926   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
00927   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00928   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00929 }
00930 
00931 /**
00932   * @brief  ResetDevice command resets the device to power-up conditions.
00933   * 
00934   */
00935 void L6470::L6470_ResetDevice(void)
00936 {
00937   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
00938   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00939   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00940 }
00941 
00942 /**
00943   * @brief  SoftStop command causes an immediate deceleration to zero speed and
00944   *         a consequent motor stop; the deceleration value used is the one stored
00945   *         in the DEC register.
00946   * 
00947   */
00948 void L6470::L6470_SoftStop(void)
00949 {
00950   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
00951   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00952   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00953 }
00954 
00955 /**
00956   * @brief  HardStop command causes an immediate motor stop with infinite deceleration.
00957   * 
00958   */
00959 void L6470::L6470_HardStop(void)
00960 {
00961   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
00962   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00963   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00964 }
00965 
00966 /**
00967   * @brief  SoftHiZ command disables the power bridges (high impedance state)
00968   *         after a deceleration to zero; the deceleration value used is the one
00969   *         stored in the DEC register.
00970   * 
00971   */
00972 void L6470::L6470_SoftHiZ(void)
00973 {
00974   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
00975   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00976   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00977 }
00978 
00979 /**
00980   * @brief  HardHiZ command immediately disables the power bridges (high impedance state).
00981   * 
00982   */
00983 void L6470::L6470_HardHiZ(void)
00984 {
00985   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
00986   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
00987   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
00988 }
00989 
00990 /**
00991   * @brief  GetStatus command returns the STATUS register value.
00992   * 
00993   * 
00994   * @retval ReceivedValue The register value.
00995   */
00996 uint16_t L6470::L6470_GetStatus(void)
00997 {
00998   uint16_t ReceivedValue;
00999 
01000   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
01001   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
01002   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
01003   
01004   ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
01005   
01006   return ReceivedValue;
01007 }
01008 
01009 /* End of L6470_AppCMDs */
01010 
01011 /**
01012   * @addtogroup L6470_AppCMDs_ToBePrepared
01013   * @{
01014   */
01015 
01016 /**
01017   * @brief  Prepare to send @ref L6470_SetParam command.
01018   *
01019   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
01020   * @param  Value         The new value.
01021   *
01022   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01023   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01024   */
01025 void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
01026 {
01027   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
01028 }
01029 
01030 /**
01031   * @brief  Prepare to send @ref L6470_GetParam command.
01032   *
01033   * @param  L6470_Id      The L6470 identifier inside the daisy chain.
01034   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
01035   *
01036   * @retval ReceivedValue The register value.
01037   *
01038   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01039   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01040   */
01041 void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
01042 {
01043   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
01044 }
01045 
01046 /**
01047   * @brief  Prepare to send @ref L6470_Run command.
01048   * 
01049   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01050   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
01051   *
01052   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01053   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01054   */
01055 void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
01056 {
01057   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
01058 }
01059 
01060 /**
01061   * @brief  Prepare to send @ref L6470_StepClock command.
01062   * 
01063   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01064   *
01065   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01066   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01067   */
01068 void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
01069 {
01070   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
01071 }
01072 
01073 /**
01074   * @brief  Prepare to send @ref L6470_Move command.
01075   * 
01076   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01077   * @param  N_Step        The number of microsteps.
01078   *
01079   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01080   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01081   */
01082 void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
01083 {
01084   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
01085 }
01086 
01087 /**
01088   * @brief  Prepare to send @ref L6470_GoTo command.
01089   * 
01090   * @param  AbsPos        The target absolute position.
01091   *
01092   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01093   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01094   */
01095 void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
01096 {
01097   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
01098 }
01099 
01100 /**
01101   * @brief  Prepare to send @ref L6470_GoToDIR command.
01102   * 
01103   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01104   * @param  AbsPos        The target absolute position.
01105   *
01106   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01107   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01108   */
01109 void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
01110 {
01111   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
01112 }
01113 
01114 /**
01115   * @brief  Prepare to send @ref L6470_GoUntil command.
01116   * 
01117   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
01118   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01119   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
01120   *
01121   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01122   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01123   */
01124 void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
01125 {
01126   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
01127 }
01128 
01129 /**
01130   * @brief  Prepare to send @ref L6470_ReleaseSW.
01131   * 
01132   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
01133   * @param  L6470_DirId   The identifier of the L6470 motion direction.
01134   *
01135   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01136   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01137   */
01138 void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
01139 {
01140   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
01141 }
01142 
01143 /**
01144   * @brief  Prepare to send @ref L6470_GoHome command.
01145   * 
01146   *
01147   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01148   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01149   */
01150 void L6470::L6470_PrepareGoHome(void)
01151 {
01152   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
01153 }
01154 
01155 /**
01156   * @brief  Prepare to send @ref L6470_GoMark command.
01157   * 
01158   *
01159   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01160   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01161   */
01162 void L6470::L6470_PrepareGoMark(void)
01163 {
01164   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
01165 }
01166 
01167 /**
01168   * @brief  Prepare to send @ref L6470_ResetPos command.
01169   * 
01170   *
01171   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01172   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01173   */
01174 void L6470::L6470_PrepareResetPos(void)
01175 {
01176   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
01177 }
01178 
01179 /**
01180   * @brief  Prepare to send @ref L6470_ResetDevice command.
01181   * 
01182   *
01183   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01184   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01185   */
01186 void L6470::L6470_PrepareResetDevice(void)
01187 {
01188   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
01189 }
01190 
01191 /**
01192   * @brief  Prepare to send @ref L6470_SoftStop command.
01193   * 
01194   *
01195   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01196   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01197   */
01198 void L6470::L6470_PrepareSoftStop(void)
01199 {
01200   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
01201 }
01202 
01203 /**
01204   * @brief  Prepare to send @ref L6470_HardStop command.
01205   * 
01206   *
01207   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01208   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01209   */
01210 void L6470::L6470_PrepareHardStop(void)
01211 {
01212   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
01213 }
01214 
01215 /**
01216   * @brief  Prepare to send @ref L6470_SoftHiZ command.
01217   * 
01218   *
01219   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01220   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01221   */
01222 void L6470::L6470_PrepareSoftHiZ(void)
01223 {
01224   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
01225 }
01226 
01227 /**
01228   * @brief  Prepare to send @ref L6470_HardHiZ command.
01229   * 
01230   *
01231   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01232   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01233   */
01234 void L6470::L6470_PrepareHardHiZ(void)
01235 {
01236   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
01237 }
01238 
01239 /**
01240   * @brief  Prepare to send @ref L6470_GetStatus command.
01241   * 
01242   *
01243   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
01244   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
01245   */
01246 void L6470::L6470_PrepareGetStatus(void)
01247 {
01248   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
01249 }
01250 
01251 /* End of L6470_AppCMDs_ToBePrepared */
01252 
01253 /**
01254   * @brief  Send via SPI the command stored inside the L6470_AppCmdPkg to the
01255   *         L6470 daisy chain.
01256   * 
01257   * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct  The pointer to the structure
01258   *         containing returned values from each L6470 of the daisy chain for each
01259   *         sent SPI data.
01260   */
01261 uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
01262 {
01263   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
01264   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
01265   
01266   return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
01267 }
01268 
01269 /**
01270   * @brief  Send command to the L6470 daisy chain via SPI
01271   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the matrix array of bytes to be sent to the daisy chain L6470
01272   * @param  pL6470_DaisyChainSpiRxStruct  Pointer to the matrix array of bytes to be received from the daisy chain L6470
01273   */
01274 void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
01275 {
01276   uint8_t spibyte;
01277   
01278   L6470_DaisyChain_HalfPrepared = ZERO_F;
01279   
01280   /* Send all command bytes via SPI */
01281   for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
01282   {
01283     /* Send the command via SPI */
01284     L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
01285     
01286     //_DELAY(TDISCS);
01287     uint8_t delay_cnt;
01288     for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP();   //!<Simply deselect time delay for SPI nCS
01289   }
01290 }
01291 
01292 /**
01293   * @brief    Extracts the data returned by the L6470 from the matrix that
01294   *           contains the received SPI data.
01295   * @param    L6470_Id  The identifier of the L6470 target inside the daisy chain.
01296   * @param    pL6470_DaisyChainSpiRxStruct  uint8_t-pointer to the matrix that
01297   *           contains the received data by SPI from the L6470 daisy chain.
01298   * @param    LengthByte  The number of bytes about the received value.
01299   */
01300 uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
01301 {
01302   uint32_t value;
01303   uint8_t i;
01304 
01305   value = 0x000000;
01306   for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
01307   {
01308     value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
01309   }
01310 
01311   return value;
01312 }
01313 
01314 /**
01315   * @brief  Check the state of a flag inside the L6470 STATUS register.
01316   *
01317   * @param  L6470_Id  The identifier of the L6470 target inside the daisy chain.
01318   * @param  L6470_StatusRegisterFlagId  The identifier of the L6470 STATUS flag to be checked.
01319   *
01320   * @retval state The flag state.
01321   */
01322 
01323 uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
01324 {
01325   uint8_t state = 0;
01326 
01327   *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
01328   
01329   switch(L6470_StatusRegisterFlagId)
01330   {
01331     case HiZ_ID:
01332       state = pL6470_StatusRegister->HiZ;
01333       break;
01334     case BUSY_ID:
01335       state = pL6470_StatusRegister->BUSY;
01336       break;
01337     case SW_F_ID:
01338       state = pL6470_StatusRegister->SW_F;
01339       break;
01340     case SW_EVN_ID:
01341       state = pL6470_StatusRegister->SW_EVN;
01342       break;
01343     case DIR_ID:
01344       state = pL6470_StatusRegister->DIR;
01345       break;
01346     case MOT_STATUS_ID:
01347       state = pL6470_StatusRegister->MOT_STATUS;
01348       break;
01349     case NOTPERF_CMD_ID:
01350       state = pL6470_StatusRegister->NOTPERF_CMD;
01351       break;
01352     case WRONG_CMD_ID:
01353       state = pL6470_StatusRegister->WRONG_CMD;
01354       break;
01355     case UVLO_ID:
01356       state = pL6470_StatusRegister->UVLO;
01357       break;
01358     case TH_WRN_ID:
01359       state = pL6470_StatusRegister->TH_WRN;
01360       break;
01361     case TH_SD_ID:
01362       state = pL6470_StatusRegister->TH_SD;
01363       break;
01364     case OCD_ID:
01365       state = pL6470_StatusRegister->OCD;
01366       break;
01367     case STEP_LOSS_A_ID:
01368       state = pL6470_StatusRegister->STEP_LOSS_A;
01369       break;
01370     case STEP_LOSS_B_ID:
01371       state = pL6470_StatusRegister->STEP_LOSS_B;
01372       break;
01373     case SCK_MOD_ID:
01374       state = pL6470_StatusRegister->SCK_MOD;
01375       break;
01376   }
01377   
01378   return state;
01379 }
01380 
01381 /**
01382   * @brief  Return the mnemonic name for the L6470 register.
01383   * @param  id  The identifier of the L6470 register.
01384   */
01385 uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
01386 {
01387   if (id < L6470REGIDSIZE)
01388   {
01389     return (uint8_t*)L6470_Register[id].Name;
01390   }
01391   else
01392   {
01393     return NULL;
01394   }
01395 }
01396 
01397 /**
01398   * @brief  Configures the L6470 registers.
01399   * @param  init The pointer to the initialization structure.
01400   */
01401 status_t L6470::L6470_Config(void *init)
01402 {
01403   /* Disable the L6470. */
01404   L6470_DISABLE();
01405 
01406   /* Enable the L6470. */
01407   L6470_ENABLE();
01408 
01409   /* Reset devices. */
01410   reset_device();
01411 
01412   /* Reset Status Register flags. */
01413   get_status();
01414 
01415   /* Prepare the 'Register' field of StepperMotorDriverHandle */
01416   L6470_init_t *MotorParameterData = (L6470_init_t *) init;
01417   StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
01418   StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
01419   StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
01420   StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
01421   StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
01422   StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
01423   StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
01424   StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
01425   StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
01426   StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
01427   StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
01428   StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
01429   StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
01430   StepperMotorRegister.K_THERM = MotorParameterData->kterm;
01431   StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
01432   StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
01433   StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
01434   StepperMotorRegister.CONFIG = MotorParameterData->config;
01435   StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
01436 
01437   /* Write the L6470 registers with the prepared data */
01438   L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
01439   L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
01440   L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
01441   L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
01442   L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
01443   L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
01444   L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
01445   L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
01446   L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
01447   L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
01448   L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
01449   L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
01450   L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
01451   L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
01452   L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
01453   L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
01454   L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
01455   L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
01456   if (!set_step_mode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
01457     return COMPONENT_ERROR;
01458   
01459   return COMPONENT_OK;
01460 }
01461 
01462 /////////////////////////////////////////////////////////////////////////////////////////////Fabian
01463 /**
01464   * @brief Array whose elements are a structure in which store information about
01465   *        the L6470 Registers (the address, the names, the length in bits, the
01466   *        reset value)
01467   */
01468 const sL6470_Register_t L6470B::_L6470_Register[L6470REGIDSIZE] = {
01469   {0x01 , "ABS_POS",   22, 3, 0x000000},  //!< Current position
01470   {0x02 , "EL_POS",     9, 2, 0x000},     //!< Electrical position
01471   {0x03 , "MARK",      22, 3, 0x000000},  //!< Mark position
01472   {0x04 , "SPEED",     20, 3, 0x0000},    //!< Current speed
01473   {0x05 , "ACC",       12, 2, 0x08A},     //!< Acceleration
01474   {0x06 , "DEC",       12, 2, 0x08A},     //!< Deceleration
01475   {0x07 , "MAX_SPEED", 10, 2, 0x041},     //!< Maximum speed
01476   {0x08 , "MIN_SPEED", 13, 2, 0x000},     //!< Minimum speed
01477   {0x15 , "FS_SPD",    10, 2, 0x027},     //!< Full-step speed
01478   {0x09 , "KVAL_HOLD",  8, 1, 0x29},      //!< Holding KVAL
01479   {0x0A , "KVAL_RUN",   8, 1, 0x29},      //!< Constant speed KVAL
01480   {0x0B , "KVAL_ACC",   8, 1, 0x29},      //!< Acceleration starting KVAL
01481   {0x0C , "KVAL_DEC",   8, 1, 0x29},      //!< Deceleration starting KVAL
01482   {0x0D , "INT_SPEED", 14, 2, 0x0408},    //!< Intersect speed
01483   {0x0E , "ST_SLP",     8, 1, 0x19},      //!< Start slope
01484   {0x0F , "FN_SLP_ACC", 8, 1, 0x29},      //!< Acceleration final slope
01485   {0x10 , "FN_SLP_DEC", 8, 1, 0x29},      //!< Deceleration final slope
01486   {0x11 , "K_THERM",    4, 1, 0x0},       //!< Thermal compensation factor
01487   {0x12 , "ADC_OUT",    5, 1, 0x00},      //!< ADC output, (the reset value is according to startup conditions)
01488   {0x13 , "OCD_TH",     4, 1, 0x8},       //!< OCD threshold
01489   {0x14 , "STALL_TH",   7, 1, 0x40},      //!< STALL threshold
01490   {0x16 , "STEP_MODE",  8, 1, 0x7},       //!< Step mode
01491   {0x17 , "ALARM_EN",   8, 1, 0xFF},      //!< Alarm enable
01492   {0x18 , "CONFIG",    16, 2, 0x2E88},    //!< IC configuration
01493   {0x19 , "STATUS",    16, 2, 0x0000}     //!< Status, (the reset value is according to startup conditions)
01494 };
01495 
01496 /**
01497   * @brief Array whose elements are a structure in which store information about
01498   *        the L6470 Application Commands (the mnemonic name, the number of
01499   *        needed parameters, the related funtion to call)
01500   */
01501 const sL6470_ApplicationCommand_t L6470B::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] =  {
01502   {"NOP",         0x00, 0},
01503   {"SETPARAM",    0x00, 2},
01504   {"GETPARAM",    0x20, 1},
01505   {"RUN",         0x50, 2},
01506   {"STEPCLOCK",   0x58, 1},
01507   {"MOVE",        0x40, 2},
01508   {"GOTO",        0x60, 1},
01509   {"GOTO_DIR",    0x68, 2},
01510   {"GOUNTIL",     0x82, 3},
01511   {"RELEASESW",   0x92, 2},
01512   {"GOHOME",      0x70, 0},
01513   {"GOMARK",      0x78, 0},
01514   {"RESETPOS",    0xD8, 0},
01515   {"RESETDEVICE", 0xC0, 0},
01516   {"SOFTSTOP",    0xB0, 0},
01517   {"HARDSTOP",    0xB8, 0},
01518   {"SOFTHIZ",     0xA0, 0},
01519   {"HARDHIZ",     0xA8, 0},
01520   {"GETSTATUS",   0xD0, 0}
01521 };
01522 
01523 /**
01524   * @brief The mnemonic names for the L6470 direction
01525   */
01526 const sL6470_Direction_t L6470B::_L6470_Direction[L6470DIRIDSIZE] = {
01527   {"REV", 0x00},  //!< Reverse direction
01528   {"FWD", 0x01}   //!< Forward direction
01529 };
01530 
01531 /**
01532   * @brief Action taken about ABS_POS register
01533   */
01534 const sL6470_ACT_t L6470B::_L6470_ACT[L6470ACTIDSIZE] = {
01535   {"RST", 0x00},  //!< ABS_POS register is reset
01536   {"CPY", 0x01}   //!< ABS_POS register value is copied into the MARK register
01537 };
01538 
01539 /* End of L6470_Private_Constants */
01540 
01541 /**
01542   * @defgroup   L6470_Private_Variables
01543   * @brief      L6470 Private Variables.
01544   * @{
01545   */
01546 
01547 /* End of L6470_Private_Variables */
01548 
01549 
01550 /**
01551   * @addtogroup L6470_Private_Functions
01552   * @{
01553   */
01554 
01555 
01556 /* Methods -------------------------------------------------------------------*/
01557 
01558 /**
01559   * @brief  Reset the structure used to store the identifier of the L6470
01560   *         application command and its the needed parameters.
01561   * @param  pL6470_AppCmdPkg   The structure to be reset.
01562   */
01563 void L6470B::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
01564 {
01565   uint8_t id;
01566   
01567   for(id=0; id<L6470DAISYCHAINSIZE; id++)
01568   {
01569     (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
01570     (pL6470_AppCmdPkg+id)->p1=0;
01571     (pL6470_AppCmdPkg+id)->p2=0;
01572     (pL6470_AppCmdPkg+id)->p3=0;
01573   }
01574 }
01575 
01576 /**
01577   * @brief  Fill the structure used to store the identifier of the L6470
01578   *         application command and its the needed parameters.
01579   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
01580   * @param  pL6470_AppCmdPkg  The structure to be filled.
01581   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
01582   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
01583   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
01584   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
01585   */
01586 void L6470B::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
01587 {
01588   (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
01589   (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
01590   (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
01591   (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
01592 }
01593 
01594 /**
01595   * @brief  This function will fill the column of the L6470_AppCmdPkg related
01596   *         the L6470 to be addressed inside the daisy chain.
01597   *
01598   * @param  L6470_Id          The identifier of the L6470 target inside the daisy chain.
01599   * @param  pL6470_AppCmdPkg  Pointer to the sL6470_AppCmdPkg_t to be filled.
01600   * @param  L6470_AppCmdId    The identifier of the L6470 application command to be sent.
01601   * @param  p1                The 1st parameter (if it is not needed it will be not considered).
01602   * @param  p2                The 2nd parameter (if it is not needed it will be not considered).
01603   * @param  p3                The 3rd parameter (if it is not needed it will be not considered).
01604   */
01605 void L6470B::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
01606 {
01607   if(!L6470_DaisyChain_HalfPrepared)
01608   {
01609     L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
01610     L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
01611   }
01612   
01613   L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
01614 }
01615 
01616 /**
01617   * @brief  This function will translate the data inside the L6470_AppCmdPkg into
01618   *         the right data to be sent via SPI to the L6470 daisy chain.
01619   *
01620   * @param  pL6470_AppCmdPkg              Pointer to the sL6470_AppCmdPkg_t to be filled.
01621   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the structure used by SPI to send the commands.
01622   */
01623 void L6470B::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
01624 {
01625   uint8_t PkgId;
01626   uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
01627   uint8_t spibyte;
01628   
01629   /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
01630   uint8_t i = 0;
01631   for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
01632     for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
01633       *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
01634 
01635   for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
01636   {
01637     /* Build the 1st bytes to transmit with the binary code of the command */
01638     *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
01639     
01640     /* Perform the related L6470_AppCmdId */
01641     switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
01642     {
01643     case L6470_NOP_ID:
01644       break;
01645     case L6470_SETPARAM_ID:
01646       /* Build the 1st bytes to transmit (PARAM) */
01647       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
01648       
01649       /* The length, in byte, of this register (PARAM) is... */
01650       PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
01651       
01652       /* Build the others bytes to transmit (VALUE) */
01653       for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
01654       {
01655         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
01656       }
01657       break;
01658     case L6470_GETPARAM_ID:
01659       /* Build the 1st bytes to transmit (PARAM) */
01660       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
01661       break;
01662     case L6470_RUN_ID:
01663       /* Build the 1st bytes to transmit (DIR) */
01664       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
01665       
01666       /* Build the others bytes to transmit (SPD) */
01667       for (spibyte=1; spibyte<(3+1); spibyte++)
01668       {
01669         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
01670       }
01671       break;
01672     case L6470_STEPCLOCK_ID:
01673       /* Build the 1st bytes to transmit (DIR) */
01674       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
01675       break;
01676     case L6470_MOVE_ID:
01677       /* Build the 1st bytes to transmit (DIR) */
01678       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
01679       
01680       /* Build the others bytes to transmit (N_STEP) */
01681       for (spibyte=1; spibyte<(3+1); spibyte++)
01682       {
01683         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
01684       }      
01685       break;
01686     case L6470_GOTO_ID:
01687       /* Build the others bytes to transmit (ABS_POS) */
01688       for (spibyte=1; spibyte<(3+1); spibyte++)
01689       {
01690         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
01691       }
01692       break;
01693     case L6470_GOTODIR_ID:
01694       /* Build the 1st bytes to transmit (DIR) */
01695       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
01696       
01697       /* Build the others bytes to transmit (ABS_POS) */
01698       for (spibyte=1; spibyte<(3+1); spibyte++)
01699       {
01700         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
01701       }
01702       break;
01703     case L6470_GOUNTIL_ID:
01704       /* Build the 1st bytes to transmit (ACT) */
01705       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
01706       /* Build the 1st bytes to transmit (DIR) */
01707       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
01708       
01709       /* Build the others bytes to transmit (SPD) */
01710       for (spibyte=1; spibyte<(3+1); spibyte++)
01711       {
01712         *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
01713       }
01714       break;
01715     case L6470_RELEASESW_ID:
01716       /* Build the 1st bytes to transmit (ACT) */
01717       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
01718       /* Build the 1st bytes to transmit (DIR) */
01719       *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
01720       break;
01721     case L6470_GOHOME_ID:
01722       break;
01723     case L6470_GOMARK_ID:
01724       break;
01725     case L6470_RESETPOS_ID:
01726       break;
01727     case L6470_RESETDEVICE_ID:
01728       break;
01729     case L6470_SOFTSTOP_ID:
01730       break;
01731     case L6470_HARDSTOP_ID:
01732       break;
01733     case L6470_SOFTHIZ_ID:
01734       break;
01735     case L6470_HARDHIZ_ID:
01736       break;
01737     case L6470_GETSTATUS_ID:
01738       break;
01739     }
01740   }
01741 }
01742 
01743 /* End of L6470_Private_Functions */
01744 
01745 /**
01746   * @addtogroup L6470_Exported_Functions
01747   * @{
01748   */
01749 
01750 /**
01751   * @addtogroup L6470_Conversion_Functions
01752   * @brief      The following functions act just on one driver inside the L6470
01753   *             daisy chain. The command is immediately sent.
01754   * @{
01755   */
01756 
01757  /**
01758   * @brief  Convert the absolute position as 2's complement format into the signed number.
01759   * 
01760   * @param  AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
01761   * @retval Position    The position as signed number.
01762   */
01763 int32_t L6470B::L6470_AbsPos_2_Position(uint32_t AbsPos)
01764 {
01765   if (AbsPos > L6470_MAX_POSITION)
01766     return (AbsPos - (L6470_POSITION_RANGE + 1));
01767   else
01768     return AbsPos;
01769 }
01770 
01771 /**
01772   * @brief  Convert the position as signed number into absolute position as 2's complement format.
01773   * 
01774   * @param  Position    The position as signed number.
01775   * @retval AbsPos      The absolute position in the range from [-(2^21)] to [+(2^21)-1].
01776   */
01777 uint32_t L6470B::L6470_Position_2_AbsPos(int32_t Position)
01778 {
01779   if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
01780     return Position;
01781   else
01782   {
01783     if ((Position >= L6470_MIN_POSITION) && (Position < 0))
01784       return (Position + (L6470_POSITION_RANGE + 1));
01785     else
01786       return (L6470_POSITION_RANGE + 1);        // OVF
01787   }
01788 }
01789 
01790 /**
01791   * @brief  Convert the SPEED register value into step/s.
01792   * 
01793   * @param  Speed       The SPEED register value.
01794   * @retval step/s      The speed as step/s.
01795   */
01796 float L6470B::L6470_Speed_2_Step_s(uint32_t Speed)
01797 {
01798   return (Speed * ((float)14.9012e-3));
01799 }
01800 
01801 /**
01802   * @brief  Convert the speed as step/s into a right value for SPEED register.
01803   * 
01804   * @param  step/s      The speed as step/s.
01805   * @retval Speed       The SPEED register value.
01806   */
01807 uint32_t L6470B::L6470_Step_s_2_Speed(float Step_s)
01808 {
01809   if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
01810     return (uint32_t)(Step_s / ((float)14.9012e-3));
01811   else
01812     return 0;   // Warning
01813 }
01814 
01815 /**
01816   * @brief  Convert the ACC register value into step/(s^2).
01817   * 
01818   * @param  Acc         The ACC register value.
01819   * @retval step/(s^2)  The acceleration as step/(s^2).
01820   */
01821 float L6470B::L6470_Acc_2_Step_s2(uint16_t Acc)
01822 {
01823   if (Acc <= L6470_MAX_ACC)
01824     return (Acc * ((float)1.4552e1));
01825   else
01826     return 0;   // Warning
01827 }
01828 
01829 /**
01830   * @brief  Convert the acceleartion as step/(s^2) into a right value for ACC register.
01831   * 
01832   * @param  step/(s^2)  The acceleration as step/(s^2).
01833   * @retval Acc         The ACC register value.
01834   */
01835 uint16_t L6470B::L6470_Step_s2_2_Acc(float Step_s2)
01836 {
01837   if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
01838     return (uint16_t)(Step_s2 / ((float)1.4552e1));
01839   else
01840     return 0;   // Warning
01841 }
01842 
01843 /**
01844   * @brief  Convert the DEC register value into step/(s^2).
01845   * 
01846   * @param  Dec         The DEC register value.
01847   * @retval step/(s^2)  The deceleration as step/(s^2).
01848   */
01849 float L6470B::L6470_Dec_2_Step_s2(uint16_t Dec)
01850 {
01851   if (Dec <= L6470_MAX_DEC)
01852     return (Dec * ((float)1.4552e1));
01853   else
01854     return 0;   // Warning
01855 }
01856 
01857 /**
01858   * @brief  Convert the deceleration as step/(s^2) into a right value for DEC register.
01859   * 
01860   * @param  step/(s^2)  The deceleration as step/(s^2).
01861   * @retval Dec         The DEC register value.
01862   */
01863 uint16_t L6470B::L6470_Step_s2_2_Dec(float Step_s2)
01864 {
01865   if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
01866     return (uint16_t)(Step_s2 / ((float)1.4552e1));
01867   else
01868     return 0;   // Warning
01869 }
01870 
01871 /**
01872   * @brief  Convert the MAX_SPEED register value into step/s.
01873   * 
01874   * @param  MaxSpeed    The MAX_SPEED register value.
01875   * @retval step/s      The max speed as step/s.
01876   */
01877 float L6470B::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
01878 {
01879   if (MaxSpeed <= L6470_MAX_MAX_SPEED)
01880     return (MaxSpeed * ((float)15.2588));
01881   else
01882     return 0;   // Warning
01883 }
01884 
01885 /**
01886   * @brief  Convert the max speed as step/s into a right value for MAX_SPEED register.
01887   * 
01888   * @param  step/s      The max speed as step/s.
01889   * @retval MaxSpeed    The MAX_SPEED register value.
01890   */
01891 uint16_t L6470B::L6470_Step_s_2_MaxSpeed(float Step_s)
01892 {
01893   if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
01894     return (uint16_t)(Step_s / ((float)15.2588));
01895   else
01896     return 0;   // Warning
01897 }
01898 
01899 /**
01900   * @brief  Convert the MIN_SPEED register value into step/s.
01901   * 
01902   * @param  MinSpeed    The MIN_SPEED register value.
01903   * @retval step/s      The min speed as step/s.
01904   */
01905 float L6470B::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
01906 {
01907   if (MinSpeed <= L6470_MAX_MIN_SPEED)
01908     return (MinSpeed * ((float)238.4186e-3));
01909   else
01910     return 0;   // Warning
01911 }
01912 
01913 /**
01914   * @brief  Convert the min speed as step/s into a right value for MIN_SPEED register.
01915   * 
01916   * @param  step/s      The min speed as step/s.
01917   * @retval MinSpeed    The MIN_SPEED register value.
01918   */
01919 uint16_t L6470B::L6470_Step_s_2_MinSpeed(float Step_s)
01920 {
01921   if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
01922     return (uint16_t)(Step_s / ((float)238.4186e-3));
01923   else
01924     return 0;   // Warning
01925 }
01926 
01927 /**
01928   * @brief  Convert the FS_SPD register value into step/s.
01929   * 
01930   * @param  FsSpd       The FS_SPD register value.
01931   * @retval step/s      The full-step speed as step/s.
01932   */
01933 float L6470B::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
01934 {
01935   if (FsSpd <= L6470_MAX_FS_SPD)
01936     return ((FsSpd+0.5) * ((float)15.25));
01937   else
01938     return 0;   // Warning
01939 }
01940 
01941 /**
01942   * @brief  Convert the full-step speed as step/s into a right value for FS_SPD register.
01943   * 
01944   * @param  step/s      The full-step speed as step/s.
01945   * @retval FsSpd       The FS_SPD register value.
01946   */
01947 uint16_t L6470B::L6470_Step_s_2_FsSpd(float Step_s)
01948 {
01949   if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
01950     return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
01951   else
01952     return 0;   // Warning
01953 }
01954 
01955 /**
01956   * @brief  Convert the INT_SPEED register value into step/s.
01957   * 
01958   * @param  IntSpeed    The INT_SPEED register value.
01959   * @retval step/s      The intersect speed as step/s.
01960   */
01961 float L6470B::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
01962 {
01963   if (IntSpeed <= L6470_MAX_INT_SPEED)
01964     return (IntSpeed * ((float)59.6046e-3));
01965   else
01966     return 0;   // Warning
01967 }
01968 
01969 /**
01970   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
01971   * 
01972   * @param  step/s      The full-step speed as step/s.
01973   * @retval FsSpd       The FS_SPD register value.
01974   */
01975 uint16_t L6470B::L6470_Step_s_2_IntSpeed(float Step_s)
01976 {
01977   if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
01978     return (uint16_t)(Step_s / ((float)59.6046e-3));
01979   else
01980     return 0;   // Warning
01981 }
01982 
01983 /**
01984   * @brief  Convert the ST_SLP register value into s/step.
01985   * 
01986   * @param  StartSlope  The ST_SLP register value.
01987   * @retval s/step      The start slope as s/step.
01988   */
01989 float L6470B::L6470_StSlp_2_s_Step(uint8_t StSlp)
01990 {
01991 //  if (StSlp <= L6470_MAX_ST_SLP)
01992     return (StSlp * ((float)1.5686e-5));
01993 //  else
01994 //    return 0;   // Warning
01995 }
01996 
01997 /**
01998   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
01999   * 
02000   * @param  step/s      The full-step speed as step/s.
02001   * @retval FsSpd       The FS_SPD register value.
02002   */
02003 uint8_t L6470B::L6470_s_Step_2_StSlp(float s_Step)
02004 {
02005   if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
02006     return (uint8_t)(s_Step / ((float)1.5686e-5));
02007   else
02008     return 0;   // Warning
02009 }
02010 
02011 /**
02012   * @brief  Convert the INT_SPEED register value into step/s.
02013   * 
02014   * @param  IntSpeed    The INT_SPEED register value.
02015   * @retval step/s      The intersect speed as step/s.
02016   */
02017 float L6470B::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
02018 {
02019 //  if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
02020     return (FnSlpAcc * ((float)1.5686e-5));
02021 //  else
02022 //    return 0;   // Warning
02023 }
02024 
02025 /**
02026   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
02027   * 
02028   * @param  step/s      The full-step speed as step/s.
02029   * @retval FsSpd       The FS_SPD register value.
02030   */
02031 uint8_t L6470B::L6470_s_Step_2_FnSlpAcc(float s_Step)
02032 {
02033   if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
02034     return (uint8_t)(s_Step / ((float)1.5686e-5));
02035   else
02036     return 0;   // Warning
02037 }
02038 
02039 /**
02040   * @brief  Convert the INT_SPEED register value into step/s.
02041   * 
02042   * @param  IntSpeed    The INT_SPEED register value.
02043   * @retval step/s      The intersect speed as step/s.
02044   */
02045 float L6470B::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
02046 {
02047 //  if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
02048     return (FnSlpDec * ((float)1.5686e-5));
02049 //  else
02050 //    return 0;   // Warning
02051 }
02052 
02053 /**
02054   * @brief  Convert the intersect speed as step/s into a right value for INT_SPEED register.
02055   * 
02056   * @param  step/s      The full-step speed as step/s.
02057   * @retval FsSpd       The FS_SPD register value.
02058   */
02059 uint8_t L6470B::L6470_s_Step_2_FnSlpDec(float s_Step)
02060 {
02061   if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
02062     return (uint8_t)(s_Step / ((float)1.5686e-5));
02063   else
02064     return 0;   // Warning
02065 }
02066 
02067 /**
02068   * @brief  Convert the OCD_TH register value into mA.
02069   * 
02070   * @param  OcdTh       The OCD_TH register value.
02071   * @retval mA          The overcurrent threshold as mA.
02072   */
02073 float L6470B::L6470_OcdTh_2_mA(uint8_t OcdTh)
02074 {
02075   if (OcdTh <= L6470_MAX_OCD_TH)
02076     return ((OcdTh+1) * ((float)375));
02077   else
02078     return 0;   // Warning
02079 }
02080 
02081 /**
02082   * @brief  Convert the overcurrent threshold as mA into a right value for OCD_TH register.
02083   * 
02084   * @param  mA          The overcurrent threshold as mA.
02085   * @retval OcdTh       The OCD_TH register value.
02086   */
02087 uint8_t L6470B::L6470_mA_2_OcdTh(float mA)
02088 {
02089   float result, decimal;
02090   
02091   if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
02092   {
02093     result = (mA / ((float)375));
02094     decimal = result - (uint8_t)result;
02095     
02096     if (decimal < (float)0.5)
02097       return ((uint8_t)result - 1);
02098     else
02099       return ((uint8_t)result);    
02100   }
02101   else
02102     return 0;   // Warning
02103 }
02104 
02105 /**
02106   * @brief  Convert the STALL_TH register value into mA.
02107   * 
02108   * @param  StallTh     The STALL_TH register value.
02109   * @retval mA          The stall detection threshold as mA.
02110   */
02111 float L6470B::L6470_StallTh_2_mA(uint8_t StallTh)
02112 {
02113   if (StallTh <= L6470_MAX_STALL_TH)
02114     return ((StallTh+1) * ((float)31.25));
02115   else
02116     return 0;   // Warning
02117 }
02118 
02119 /**
02120   * @brief  Convert the stall detection threshold as mA into a right value for STALL_TH register.
02121   * 
02122   * @param  mA          The stall detection threshold as mA.
02123   * @retval StallTh     The STALL_TH register value.
02124   */
02125 uint8_t L6470B::L6470_mA_2_StallTh(float mA)
02126 {
02127   float result, decimal;
02128   
02129   if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
02130   {
02131     result = (mA / ((float)31.25));
02132     decimal = result - (uint8_t)result;
02133     
02134     if (decimal < (float)0.5)
02135       return ((uint8_t)result - 1);
02136     else
02137       return ((uint8_t)result);    
02138   }
02139   else
02140     return 0;   // Warning
02141 }
02142 
02143 /* End of L6470_Conversion_Functions */
02144 
02145 /**
02146   * @addtogroup L6470_AppCMDs
02147   * @{
02148   */
02149 
02150 /**
02151   * @brief  SetParam command sets the register value equal to a new value.
02152   * 
02153   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
02154   * @param  Value         The new value.
02155   */
02156 void L6470B::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
02157 {
02158   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
02159   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02160   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02161 }
02162 
02163 /**
02164   * @brief  GetParam command reads the register value.
02165   * 
02166   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
02167   * 
02168   * @retval ReceivedValue The register value.
02169   */
02170 uint32_t L6470B::L6470_GetParam(eL6470_RegId_t L6470_RegId)
02171 {
02172   uint8_t ValueLengthByte;
02173   uint32_t ReceivedValue;
02174 
02175   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
02176   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02177   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02178   
02179   ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
02180   
02181   ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
02182   
02183   return ReceivedValue;
02184 }
02185 
02186 /**
02187   * @brief  Run command produces a motion at fixed speed.
02188   * 
02189   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02190   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
02191   */
02192 void L6470B::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
02193 {
02194   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
02195   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02196   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02197 }
02198 
02199 /**
02200   * @brief  StepClock command switches the device in Step-clock mode.
02201   * 
02202   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02203   */
02204 void L6470B::L6470_StepClock(eL6470_DirId_t L6470_DirId)
02205 {
02206   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
02207   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02208   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02209 }
02210 
02211 /**
02212   * @brief  Move command produces a motion of N_STEP microsteps.
02213   * 
02214   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02215   * @param  N_Step        The number of microsteps.
02216   */
02217 void L6470B::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
02218 {
02219   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
02220   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02221   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02222 }
02223 
02224 /**
02225   * @brief  GoTo command produces a motion to ABS_POS absolute position through the shortest path.
02226   * 
02227   * @param  AbsPos        The target absolute position.
02228   */
02229 void L6470B::L6470_GoTo(uint32_t AbsPos)
02230 {
02231   if (AbsPos <= L6470_POSITION_RANGE)
02232   {
02233     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
02234     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02235     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02236   }
02237 }
02238 
02239 /**
02240   * @brief  GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
02241   * 
02242   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02243   * @param  AbsPos        The target absolute position.
02244   */
02245 void L6470B::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
02246 {
02247   if (AbsPos <= L6470_POSITION_RANGE)
02248   {
02249     L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
02250     L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02251     L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02252   }
02253 }
02254 
02255 /**
02256   * @brief  GoUntil command produces a motion at fixed speed imposing a direction
02257   *         until an external switch turn-on event occurs.
02258   * 
02259   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
02260   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02261   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
02262   */
02263 void L6470B::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
02264 {
02265   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
02266   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02267   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02268 }
02269 
02270 /**
02271   * @brief  ReleaseSW command produces a motion at minimum speed imposing a direction
02272   *         until SW is released.
02273   * 
02274   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
02275   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02276   */
02277 void L6470B::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
02278 {
02279   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
02280   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02281   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02282 }
02283 
02284 /**
02285   * @brief  GoHome command produces a motion to the HOME position (zero position)
02286   *         via the shortest path.
02287   * 
02288   */
02289 void L6470B::L6470_GoHome(void)
02290 {
02291   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
02292   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02293   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02294 }
02295 
02296 /**
02297   * @brief  GoMark command produces a motion to the MARK position performing the
02298   *         minimum path.
02299   * 
02300   */
02301 void L6470B::L6470_GoMark(void)
02302 {
02303   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
02304   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02305   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02306 }
02307 
02308 /**
02309   * @brief  ResetPos command resets the ABS_POS register to zero.
02310   * 
02311   */
02312 void L6470B::L6470_ResetPos(void)
02313 {
02314   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
02315   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02316   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02317 }
02318 
02319 /**
02320   * @brief  ResetDevice command resets the device to power-up conditions.
02321   * 
02322   */
02323 void L6470B::L6470_ResetDevice(void)
02324 {
02325   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
02326   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02327   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02328 }
02329 
02330 /**
02331   * @brief  SoftStop command causes an immediate deceleration to zero speed and
02332   *         a consequent motor stop; the deceleration value used is the one stored
02333   *         in the DEC register.
02334   * 
02335   */
02336 void L6470B::L6470_SoftStop(void)
02337 {
02338   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
02339   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02340   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02341 }
02342 
02343 /**
02344   * @brief  HardStop command causes an immediate motor stop with infinite deceleration.
02345   * 
02346   */
02347 void L6470B::L6470_HardStop(void)
02348 {
02349   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
02350   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02351   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02352 }
02353 
02354 /**
02355   * @brief  SoftHiZ command disables the power bridges (high impedance state)
02356   *         after a deceleration to zero; the deceleration value used is the one
02357   *         stored in the DEC register.
02358   * 
02359   */
02360 void L6470B::L6470_SoftHiZ(void)
02361 {
02362   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
02363   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02364   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02365 }
02366 
02367 /**
02368   * @brief  HardHiZ command immediately disables the power bridges (high impedance state).
02369   * 
02370   */
02371 void L6470B::L6470_HardHiZ(void)
02372 {
02373   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
02374   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02375   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02376 }
02377 
02378 /**
02379   * @brief  GetStatus command returns the STATUS register value.
02380   * 
02381   * 
02382   * @retval ReceivedValue The register value.
02383   */
02384 uint16_t L6470B::L6470_GetStatus(void)
02385 {
02386   uint16_t ReceivedValue;
02387 
02388   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
02389   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02390   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02391   
02392   ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
02393   
02394   return ReceivedValue;
02395 }
02396 
02397 /* End of L6470_AppCMDs */
02398 
02399 /**
02400   * @addtogroup L6470_AppCMDs_ToBePrepared
02401   * @{
02402   */
02403 
02404 /**
02405   * @brief  Prepare to send @ref L6470_SetParam command.
02406   *
02407   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
02408   * @param  Value         The new value.
02409   *
02410   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02411   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02412   */
02413 void L6470B::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
02414 {
02415   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
02416 }
02417 
02418 /**
02419   * @brief  Prepare to send @ref L6470_GetParam command.
02420   *
02421   * @param  L6470_Id      The L6470 identifier inside the daisy chain.
02422   * @param  L6470_RegId   The identifier of the L6470 register to be addressed.
02423   *
02424   * @retval ReceivedValue The register value.
02425   *
02426   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02427   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02428   */
02429 void L6470B::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
02430 {
02431   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
02432 }
02433 
02434 /**
02435   * @brief  Prepare to send @ref L6470_Run command.
02436   * 
02437   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02438   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
02439   *
02440   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02441   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02442   */
02443 void L6470B::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
02444 {
02445   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
02446 }
02447 
02448 /**
02449   * @brief  Prepare to send @ref L6470_StepClock command.
02450   * 
02451   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02452   *
02453   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02454   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02455   */
02456 void L6470B::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
02457 {
02458   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
02459 }
02460 
02461 /**
02462   * @brief  Prepare to send @ref L6470_Move command.
02463   * 
02464   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02465   * @param  N_Step        The number of microsteps.
02466   *
02467   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02468   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02469   */
02470 void L6470B::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
02471 {
02472   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
02473 }
02474 
02475 /**
02476   * @brief  Prepare to send @ref L6470_GoTo command.
02477   * 
02478   * @param  AbsPos        The target absolute position.
02479   *
02480   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02481   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02482   */
02483 void L6470B::L6470_PrepareGoTo(uint32_t AbsPos)
02484 {
02485   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
02486 }
02487 
02488 /**
02489   * @brief  Prepare to send @ref L6470_GoToDIR command.
02490   * 
02491   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02492   * @param  AbsPos        The target absolute position.
02493   *
02494   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02495   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02496   */
02497 void L6470B::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
02498 {
02499   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
02500 }
02501 
02502 /**
02503   * @brief  Prepare to send @ref L6470_GoUntil command.
02504   * 
02505   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
02506   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02507   * @param  Speed         The speed value as (([step/s] * 250e-9) / 2^-28)
02508   *
02509   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02510   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02511   */
02512 void L6470B::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
02513 {
02514   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
02515 }
02516 
02517 /**
02518   * @brief  Prepare to send @ref L6470_ReleaseSW.
02519   * 
02520   * @param  L6470_ActId   The identifier of the L6470 action about the absolute position.
02521   * @param  L6470_DirId   The identifier of the L6470 motion direction.
02522   *
02523   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02524   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02525   */
02526 void L6470B::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
02527 {
02528   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
02529 }
02530 
02531 /**
02532   * @brief  Prepare to send @ref L6470_GoHome command.
02533   * 
02534   *
02535   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02536   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02537   */
02538 void L6470B::L6470_PrepareGoHome(void)
02539 {
02540   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
02541 }
02542 
02543 /**
02544   * @brief  Prepare to send @ref L6470_GoMark command.
02545   * 
02546   *
02547   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02548   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02549   */
02550 void L6470B::L6470_PrepareGoMark(void)
02551 {
02552   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
02553 }
02554 
02555 /**
02556   * @brief  Prepare to send @ref L6470_ResetPos command.
02557   * 
02558   *
02559   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02560   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02561   */
02562 void L6470B::L6470_PrepareResetPos(void)
02563 {
02564   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
02565 }
02566 
02567 /**
02568   * @brief  Prepare to send @ref L6470_ResetDevice command.
02569   * 
02570   *
02571   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02572   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02573   */
02574 void L6470B::L6470_PrepareResetDevice(void)
02575 {
02576   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
02577 }
02578 
02579 /**
02580   * @brief  Prepare to send @ref L6470_SoftStop command.
02581   * 
02582   *
02583   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02584   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02585   */
02586 void L6470B::L6470_PrepareSoftStop(void)
02587 {
02588   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
02589 }
02590 
02591 /**
02592   * @brief  Prepare to send @ref L6470_HardStop command.
02593   * 
02594   *
02595   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02596   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02597   */
02598 void L6470B::L6470_PrepareHardStop(void)
02599 {
02600   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
02601 }
02602 
02603 /**
02604   * @brief  Prepare to send @ref L6470_SoftHiZ command.
02605   * 
02606   *
02607   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02608   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02609   */
02610 void L6470B::L6470_PrepareSoftHiZ(void)
02611 {
02612   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
02613 }
02614 
02615 /**
02616   * @brief  Prepare to send @ref L6470_HardHiZ command.
02617   * 
02618   *
02619   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02620   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02621   */
02622 void L6470B::L6470_PrepareHardHiZ(void)
02623 {
02624   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
02625 }
02626 
02627 /**
02628   * @brief  Prepare to send @ref L6470_GetStatus command.
02629   * 
02630   *
02631   * @note   This function will properly fill the right column of the L6470_AppCmdPkg.
02632   * @note   The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
02633   */
02634 void L6470B::L6470_PrepareGetStatus(void)
02635 {
02636   L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
02637 }
02638 
02639 /* End of L6470_AppCMDs_ToBePrepared */
02640 
02641 /**
02642   * @brief  Send via SPI the command stored inside the L6470_AppCmdPkg to the
02643   *         L6470 daisy chain.
02644   * 
02645   * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct  The pointer to the structure
02646   *         containing returned values from each L6470 of the daisy chain for each
02647   *         sent SPI data.
02648   */
02649 uint8_t* L6470B::L6470_PerformPreparedApplicationCommand(void)
02650 {
02651   L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
02652   L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
02653   
02654   return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
02655 }
02656 
02657 /**
02658   * @brief  Send command to the L6470 daisy chain via SPI
02659   * @param  pL6470_DaisyChainSpiTxStruct  Pointer to the matrix array of bytes to be sent to the daisy chain L6470
02660   * @param  pL6470_DaisyChainSpiRxStruct  Pointer to the matrix array of bytes to be received from the daisy chain L6470
02661   */
02662 void L6470B::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
02663 {
02664   uint8_t spibyte;
02665   
02666   L6470_DaisyChain_HalfPrepared = ZERO_F;
02667   
02668   /* Send all command bytes via SPI */
02669   for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
02670   {
02671     /* Send the command via SPI */
02672     L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
02673     
02674     //_DELAY(TDISCS);
02675     uint8_t delay_cnt;
02676     for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP();   //!<Simply deselect time delay for SPI nCS
02677   }
02678 }
02679 
02680 /**
02681   * @brief    Extracts the data returned by the L6470 from the matrix that
02682   *           contains the received SPI data.
02683   * @param    L6470_Id  The identifier of the L6470 target inside the daisy chain.
02684   * @param    pL6470_DaisyChainSpiRxStruct  uint8_t-pointer to the matrix that
02685   *           contains the received data by SPI from the L6470 daisy chain.
02686   * @param    LengthByte  The number of bytes about the received value.
02687   */
02688 uint32_t L6470B::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
02689 {
02690   uint32_t value;
02691   uint8_t i;
02692 
02693   value = 0x000000;
02694   for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
02695   {
02696     value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
02697   }
02698 
02699   return value;
02700 }
02701 
02702 /**
02703   * @brief  Check the state of a flag inside the L6470 STATUS register.
02704   *
02705   * @param  L6470_Id  The identifier of the L6470 target inside the daisy chain.
02706   * @param  L6470_StatusRegisterFlagId  The identifier of the L6470 STATUS flag to be checked.
02707   *
02708   * @retval state The flag state.
02709   */
02710 
02711 uint8_t L6470B::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
02712 {
02713   uint8_t state = 0;
02714 
02715   *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
02716   
02717   switch(L6470_StatusRegisterFlagId)
02718   {
02719     case HiZ_ID:
02720       state = pL6470_StatusRegister->HiZ;
02721       break;
02722     case BUSY_ID:
02723       state = pL6470_StatusRegister->BUSY;
02724       break;
02725     case SW_F_ID:
02726       state = pL6470_StatusRegister->SW_F;
02727       break;
02728     case SW_EVN_ID:
02729       state = pL6470_StatusRegister->SW_EVN;
02730       break;
02731     case DIR_ID:
02732       state = pL6470_StatusRegister->DIR;
02733       break;
02734     case MOT_STATUS_ID:
02735       state = pL6470_StatusRegister->MOT_STATUS;
02736       break;
02737     case NOTPERF_CMD_ID:
02738       state = pL6470_StatusRegister->NOTPERF_CMD;
02739       break;
02740     case WRONG_CMD_ID:
02741       state = pL6470_StatusRegister->WRONG_CMD;
02742       break;
02743     case UVLO_ID:
02744       state = pL6470_StatusRegister->UVLO;
02745       break;
02746     case TH_WRN_ID:
02747       state = pL6470_StatusRegister->TH_WRN;
02748       break;
02749     case TH_SD_ID:
02750       state = pL6470_StatusRegister->TH_SD;
02751       break;
02752     case OCD_ID:
02753       state = pL6470_StatusRegister->OCD;
02754       break;
02755     case STEP_LOSS_A_ID:
02756       state = pL6470_StatusRegister->STEP_LOSS_A;
02757       break;
02758     case STEP_LOSS_B_ID:
02759       state = pL6470_StatusRegister->STEP_LOSS_B;
02760       break;
02761     case SCK_MOD_ID:
02762       state = pL6470_StatusRegister->SCK_MOD;
02763       break;
02764   }
02765   
02766   return state;
02767 }
02768 
02769 /**
02770   * @brief  Return the mnemonic name for the L6470 register.
02771   * @param  id  The identifier of the L6470 register.
02772   */
02773 uint8_t *L6470B::L6470_GetRegisterName(uint8_t id)
02774 {
02775   if (id < L6470REGIDSIZE)
02776   {
02777     return (uint8_t*)L6470_Register[id].Name;
02778   }
02779   else
02780   {
02781     return NULL;
02782   }
02783 }
02784 
02785 /**
02786   * @brief  Configures the L6470 registers.
02787   * @param  init The pointer to the initialization structure.
02788   */
02789 status_t L6470B::L6470_Config(void *init)
02790 {
02791   /* Disable the L6470. */
02792   L6470_DISABLE();
02793 
02794   /* Enable the L6470. */
02795   L6470_ENABLE();
02796 
02797   /* Reset devices. */
02798   reset_device();
02799 
02800   /* Reset Status Register flags. */
02801   get_status();
02802 
02803   /* Prepare the 'Register' field of StepperMotorDriverHandle */
02804   L6470_init_t *MotorParameterData = (L6470_init_t *) init;
02805   StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
02806   StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
02807   StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
02808   StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
02809   StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
02810   StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
02811   StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
02812   StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
02813   StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
02814   StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
02815   StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
02816   StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
02817   StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
02818   StepperMotorRegister.K_THERM = MotorParameterData->kterm;
02819   StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
02820   StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
02821   StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
02822   StepperMotorRegister.CONFIG = MotorParameterData->config;
02823   StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
02824 
02825   /* Write the L6470 registers with the prepared data */
02826   L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
02827   L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
02828   L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
02829   L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
02830   L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
02831   L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
02832   L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
02833   L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
02834   L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
02835   L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
02836   L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
02837   L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
02838   L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
02839   L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
02840   L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
02841   L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
02842   L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
02843   L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
02844   if (!set_step_mode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
02845     return COMPONENT_ERROR;
02846   
02847   return COMPONENT_OK;
02848 }
02849 
02850 
02851 
02852 /* End of L6470_Exported_Functions */
02853 
02854 /* End of L6470 */
02855 
02856 /* End of Components */
02857 
02858 /* End of BSP */
02859 
02860 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/