Tom STOGIANNIS
/
HelloWorld_IHM02A1-2
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Dependencies: X_NUCLEO_COMMON ST_INTERFACES
Revision 29:523fea76d664, committed 2020-12-17
- Comitter:
- tomstogiannis
- Date:
- Thu Dec 17 14:58:10 2020 +0000
- Parent:
- 28:c2d5dbe5b28e
- Commit message:
- change wait_ms to wait_us
Changed in this revision
--- a/X_NUCLEO_IHM02A1.lib Thu Dec 17 12:47:52 2020 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,1 +0,0 @@ -https://developer.mbed.org/teams/ST/code/X_NUCLEO_IHM02A1/#89d8424b423b
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/BSP/XNucleoIHM02A1.cpp Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,220 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIHM02A1.cpp
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Implementation file for the X_NUCLEO_IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "XNucleoIHM02A1.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of expansion boards. */
+uint8_t XNucleoIHM02A1::number_of_boards = 0;
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi) : dev_spi(spi)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ if (dev_spi == NULL) {
+ dev_spi = new DevSPI(X_NUCLEO_IHM02A1_PIN_SPI_MOSI, X_NUCLEO_IHM02A1_PIN_SPI_MISO, X_NUCLEO_IHM02A1_PIN_SPI_SCLK);
+ }
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+XNucleoIHM02A1::XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk)
+{
+ /* Checking stackability. */
+ if (!(number_of_boards < EXPBRD_MOUNTED_NR_MAX)) {
+ error("Instantiation of the X_NUCLEO_IHM02A1 expansion board failed: it can be stacked up to %d times.\r\n", EXPBRD_MOUNTED_NR_MAX);
+ }
+ instance_id = number_of_boards++;
+
+ /* SPI communication. */
+ dev_spi = new DevSPI(mosi, miso, sclk);
+
+ /* Instantiating the components. */
+ /* ACTION 3 --------------------------------------------------------------*
+ * Instantiate here the expansion board's components. *
+ * *
+ * Example: *
+ * component_1 = new COMPONENT_1(ssel, *dev_spi); *
+ * component_2 = new COMPONENT_2(ssel, *dev_spi); *
+ *------------------------------------------------------------------------*/
+ components[0] = l6470_0 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+ components[1] = l6470_1 = new L6470(flag_irq, busy_irq, standby_reset, ssel, *dev_spi);
+
+ /* Initializing the components. */
+ init_components[0] = init_0;
+ init_components[1] = init_1;
+ if (!init()) {
+ error("Initialization of the X_NUCLEO_IHM02A1 expansion board failed.\r\n");
+ }
+}
+
+/**
+ * @brief Initializing the X_NUCLEO_IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init(void)
+{
+ /* Initializing the components. */
+ /* ACTION 4 --------------------------------------------------------------*
+ * Initialize here the expansion board's components. *
+ * *
+ * Example: *
+ * return (init_COMPONENT_1() && init_COMPONENT_2()); *
+ *------------------------------------------------------------------------*/
+ return (init_L6470_0() && init_L6470_1());
+}
+
+/* ACTION 5 ------------------------------------------------------------------*
+ * Implement here an initialization method for each expansion board's *
+ * component. *
+ * *
+ * Example: *
+ * bool ExpansionBoard::init_COMPONENT_1(void) *
+ * { *
+ * // Verifying identity. *
+ * uint8_t id = 0; *
+ * int ret = component_1->read_id(&id); *
+ * if ((ret != COMPONENT_OK) || (id != I_AM_COMPONENT_1)) *
+ * { *
+ * delete component_1; *
+ * component_1 = NULL; *
+ * return true; *
+ * } *
+ * *
+ * // Configuration. *
+ * COMPONENT_init_t init; *
+ * init.property_1 = COMPONENT_1_PROPERY_1_INIT; *
+ * init.property_N = COMPONENT_1_PROPERY_N_INIT; *
+ * *
+ * // Initialization. *
+ * if (component_1->init(&init) != COMPONENT_OK) *
+ * return false; *
+ * *
+ * return true; *
+ * } *
+ *----------------------------------------------------------------------------*/
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init_L6470_0(void)
+{
+ /* Initialization. */
+ if (l6470_0->init((void *) init_components[0]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/**
+ * @brief Initialize the L6470 component.
+ * @retval true if initialization is successful, false otherwise.
+ */
+bool XNucleoIHM02A1::init_L6470_1(void)
+{
+ /* Initialization. */
+ if (l6470_1->init((void *) init_components[1]) != COMPONENT_OK) {
+ return false;
+ }
+
+ return true;
+}
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/BSP/XNucleoIHM02A1.h Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,224 @@
+/**
+ ******************************************************************************
+ * @file XNucleoIHM02A1.h
+ * @author AST / Software Platforms and Cloud
+ * @version V1.0
+ * @date November 3rd, 2015
+ * @brief Class header file for the X-NUCLEO-IHM02A1 expansion board.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __X_NUCLEO_IHM02A1_CLASS_H
+#define __X_NUCLEO_IHM02A1_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here expansion board configuration's header files. *
+ *----------------------------------------------------------------------------*/
+#include "x_nucleo_ihm02a1_config.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here expansion board's components' header files. *
+ * *
+ * Example: *
+ * #include "COMPONENT_1.h" *
+ * #include "COMPONENT_2.h" *
+ *----------------------------------------------------------------------------*/
+#include "L6470.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/** Class representing a X-NUCLEO-IHM02A1 board.
+ */
+class XNucleoIHM02A1
+{
+public:
+
+ /*** Constructor, Destructor, and Initialization Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI *spi);
+
+ /**
+ * @brief Constructor.
+ * @param init_0 pointer to the initialization structure of the first motor.
+ * @param init_1 pointer to the initialization structure of the second motor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param mosi pin name of the MOSI pin of the SPI device to be used for communication.
+ * @param miso pin name of the MISO pin of the SPI device to be used for communication.
+ * @param sclk pin name of the SCLK pin of the SPI device to be used for communication.
+ */
+ XNucleoIHM02A1(L6470_init_t *init_0, L6470_init_t *init_1, PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, PinName mosi, PinName miso, PinName sclk);
+
+ /**
+ * @brief Destructor.
+ */
+ ~XNucleoIHM02A1(void) {}
+
+ /**
+ * @brief Initializing the X-NUCLEO-IHM02A1 board.
+ * @retval true if initialization is successful, false otherwise.
+ */
+ bool init(void);
+
+
+ /*** Other Public Expansion Board Related Methods ***/
+
+ /**
+ * @brief Getting the array of components.
+ * @param None.
+ * @retval The array of components.
+ */
+ L6470 **get_components(void)
+ {
+ return components;
+ }
+
+ /**
+ * @brief Performing the actions set on the motors with calls to a number of
+ * "Prepare<Action>()" methods, one for each motor of the daisy-chain.
+ * @param None.
+ * @retval A pointer to the results returned by the components, i.e. an
+ * integer value for each of them.
+ */
+ virtual uint32_t* perform_prepared_actions(void)
+ {
+ /* Performing pre-actions, if needed. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ /*
+ "GetPosition()" is needed by "PrepareSetMark()" at the time when the
+ prepared actions get performed.
+ */
+ if (components[m]->get_prepared_action() == L6470::PREPARED_SET_MARK) {
+ components[m]->prepare_set_mark((uint32_t) components[m]->get_position());
+ }
+ }
+
+ /* Performing the prepared actions and getting back raw data. */
+ uint8_t *raw_data = components[0]->perform_prepared_actions();
+
+ /* Processing raw data. */
+ for (int m = 0; m < L6470DAISYCHAINSIZE; m++) {
+ results[m] = components[m]->get_result(raw_data);
+ }
+
+ /* Returning results. */
+ return results;
+ }
+
+
+ /*** Public Expansion Board Related Attributes ***/
+
+ /* ACTION 4 --------------------------------------------------------------*
+ * Declare here a public attribute for each expansion board's component. *
+ * You will have to call these attributes' public methods within your *
+ * main program. *
+ * *
+ * Example: *
+ * COMPONENT_1 *component_1; *
+ * COMPONENT_2 *component_2; *
+ *------------------------------------------------------------------------*/
+ L6470 *l6470_0;
+ L6470 *l6470_1;
+
+
+protected:
+
+ /*** Protected Expansion Board Related Initialization Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Declare here a protected initialization method for each expansion *
+ * board's component. *
+ * *
+ * Example: *
+ * bool init_COMPONENT_1(void); *
+ * bool init_COMPONENT_2(void); *
+ *------------------------------------------------------------------------*/
+ bool init_L6470_0(void);
+ bool init_L6470_1(void);
+
+
+ /*** Component's Instance Variables ***/
+
+ /* IO Device. */
+ DevSPI *dev_spi;
+
+ /* Components. */
+ L6470 *components[L6470DAISYCHAINSIZE];
+
+ /* Components' initialization. */
+ L6470_init_t *init_components[L6470DAISYCHAINSIZE];
+
+ /* Results of prepared actions. */
+ uint32_t results[L6470DAISYCHAINSIZE];
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ uint8_t instance_id;
+
+ /* Static data. */
+ static uint8_t number_of_boards;
+};
+
+#endif /* __X_NUCLEO_IHM02A1_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM02A1/BSP/x_nucleo_ihm02a1_config.h Thu Dec 17 14:58:10 2020 +0000 @@ -0,0 +1,81 @@ +/** + ****************************************************************************** + * @file x_nucleo_ihm02a1_config.h + * @author AST / Software Platforms and Cloud + * @version V1.0 + * @date November 3rd, 2015 + * @brief Configuration header file for the X_NUCLEO_IHM02A1 expansion board. + ****************************************************************************** + * @attention + * + * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2> + * + * Redistribution and use in source and binary forms, with or without modification, + * are permitted provided that the following conditions are met: + * 1. Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright notice, + * this list of conditions and the following disclaimer in the documentation + * and/or other materials provided with the distribution. + * 3. Neither the name of STMicroelectronics nor the names of its contributors + * may be used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************** + */ + + +/* Generated with STM32CubeTOO -----------------------------------------------*/ + + +/* Define to prevent recursive inclusion -------------------------------------*/ + +#ifndef __X_NUCLEO_IHM02A1_CONFIG_H +#define __X_NUCLEO_IHM02A1_CONFIG_H + + +/* Definitions ---------------------------------------------------------------*/ + +/* ACTION --------------------------------------------------------------------* + * Specify here a configuration for I/O and interrupts' pins. * + * * + * Example: * + * // I2C. * + * #define EXPANSION_BOARD_PIN_I2C_SCL (D15) * + * #define EXPANSION_BOARD_PIN_I2C_SDA (D14) * + * * + * // SPI. * + * #define EXPANSION_BOARD_PIN_SPI_MOSI (D11) * + * #define EXPANSION_BOARD_PIN_SPI_MISO (D12) * + * #define EXPANSION_BOARD_PIN_SPI_SCLK (D13) * + * * + * // Interrupts. * + * #define EXPANSION_BOARD_PIN_INT_1 (A2) * + *----------------------------------------------------------------------------*/ +/* I2C. */ +#define X_NUCLEO_IHM02A1_PIN_I2C_SCL (D15) +#define X_NUCLEO_IHM02A1_PIN_I2C_SDA (D14) + +/* SPI. */ +#define X_NUCLEO_IHM02A1_PIN_SPI_MOSI (D11) +#define X_NUCLEO_IHM02A1_PIN_SPI_MISO (D12) +#define X_NUCLEO_IHM02A1_PIN_SPI_SCLK (D13) + +/* Interrupts. */ +#define X_NUCLEO_IHM02A1_PIN_INT_1 (A2) + +/* Maximum number of mounted "X-NUCLEO-IHM02A1" Expansion Boards. */ +#define EXPBRD_MOUNTED_NR_MAX (4) + +#endif /* __X_NUCLEO_IHM02A1_CONFIG_H */ \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/Components/Common/component_def.h Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,93 @@
+/**
+ ******************************************************************************
+ * @file component_def.h
+ * @author AST
+ * @version V1.0.0
+ * @date 1 April 2015
+ * @brief Generic header file containing a generic component's definitions
+ * and I/O functions.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2015 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __COMPONENT_H
+#define __COMPONENT_H
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @brief Component's Context structure definition.
+ */
+typedef struct
+{
+ /* Identity. */
+ uint8_t who_am_i;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique identifier for each component, which */
+ /* should be the "who_am_i" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Type. */
+ uint8_t type;
+
+ /* Configuration. */
+ uint8_t address;
+
+ /* Pointer to the Data. */
+ void *p_data;
+
+ /* Pointer to the Virtual Table. */
+ void *p_vt;
+
+ /* ACTION ----------------------------------------------------------------*/
+ /* There should be only a unique virtual table for each component, which */
+ /* should be the "p_vt" parameter, hence this parameter is optional. */
+ /* -----------------------------------------------------------------------*/
+ /* Pointer to the Extended Virtual Table. */
+ void *p_ext_vt;
+} handle_t;
+
+/**
+ * @brief Component's Status enumerator definition.
+ */
+typedef enum
+{
+ COMPONENT_OK = 0,
+ COMPONENT_ERROR,
+ COMPONENT_TIMEOUT,
+ COMPONENT_NOT_IMPLEMENTED
+} status_t;
+
+#endif /* __COMPONENT_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/Components/Common/microstepping_motor_def.h Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,484 @@
+/**
+ ******************************************************************************
+ * @file microstepping_motor_def.h
+ * @author IPD SYSTEM LAB & TECH MKTG
+ * @version V0.0.1
+ * @date 04-June-2015
+ * @brief This file contains all the functions prototypes for the microstepping
+ * motor driver with motion engine.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __MICROSTEPPINGMOTOR_H
+#define __MICROSTEPPINGMOTOR_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include <stdint.h>
+#include "component_def.h"
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @defgroup MicrosteppingMotorDriver
+ * @{
+ */
+
+/** @defgroup StepperMotorExportedTypes
+ * @{
+ */
+
+/**
+ * @brief The L6470 Registers Identifiers.
+ */
+typedef enum {
+ L6470_ABS_POS_ID = 0, //!< Current position
+ L6470_EL_POS_ID, //!< Electrical position
+ L6470_MARK_ID, //!< Mark position
+ L6470_SPEED_ID, //!< Current speed
+ L6470_ACC_ID, //!< Acceleration
+ L6470_DEC_ID, //!< Deceleration
+ L6470_MAX_SPEED_ID, //!< Maximum speed
+ L6470_MIN_SPEED_ID, //!< Minimum speed
+ L6470_FS_SPD_ID, //!< Full-step speed
+ L6470_KVAL_HOLD_ID, //!< Holding KVAL
+ L6470_KVAL_RUN_ID, //!< Constant speed KVAL
+ L6470_KVAL_ACC_ID, //!< Acceleration starting KVAL
+ L6470_KVAL_DEC_ID, //!< Deceleration starting KVAL
+ L6470_INT_SPEED_ID, //!< Intersect speed
+ L6470_ST_SLP_ID, //!< Start slope
+ L6470_FN_SLP_ACC_ID, //!< Acceleration final slope
+ L6470_FN_SLP_DEC_ID, //!< Deceleration final slope
+ L6470_K_THERM_ID, //!< Thermal compensation factor
+ L6470_ADC_OUT_ID, //!< ADC output, (the reset value is according to startup conditions)
+ L6470_OCD_TH_ID, //!< OCD threshold
+ L6470_STALL_TH_ID, //!< STALL threshold
+ L6470_STEP_MODE_ID, //!< Step mode
+ L6470_ALARM_EN_ID, //!< Alarm enable
+ L6470_CONFIG_ID, //!< IC configuration
+ L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
+} eL6470_RegId_t;
+
+/**
+ * @brief The L6470 Application Commands Identifiers.
+ */
+typedef enum {
+ L6470_NOP_ID = 0, //!< Nothing
+ L6470_SETPARAM_ID, //!< Writes VALUE in PARAM register
+ L6470_GETPARAM_ID, //!< Returns the stored value in PARAM register
+ L6470_RUN_ID, //!< Sets the target speed and the motor direction
+ L6470_STEPCLOCK_ID, //!< Puts the device into Step-clock mode and imposes DIR direction
+ L6470_MOVE_ID, //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running)
+ L6470_GOTO_ID, //!< Brings motor into ABS_POS position (minimum path)
+ L6470_GOTODIR_ID, //!< Brings motor into ABS_POS position forcing DIR direction
+ L6470_GOUNTIL_ID, //!< Performs a motion in DIR direction with speed SPD until SW is closed, the ACT action is executed then a SoftStop takes place
+ L6470_RELEASESW_ID, //!< Performs a motion in DIR direction at minimum speed until the SW is released (open), the ACT action is executed then a HardStop takes place
+ L6470_GOHOME_ID, //!< Brings the motor into HOME position
+ L6470_GOMARK_ID, //!< Brings the motor into MARK position
+ L6470_RESETPOS_ID, //!< Resets the ABS_POS register (set HOME position)
+ L6470_RESETDEVICE_ID, //!< Device is reset to power-up conditions
+ L6470_SOFTSTOP_ID, //!< Stops motor with a deceleration phase
+ L6470_HARDSTOP_ID, //!< Stops motor immediately
+ L6470_SOFTHIZ_ID, //!< Puts the bridges into high impedance status after a deceleration phase
+ L6470_HARDHIZ_ID, //!< Puts the bridges into high impedance status immediately
+ L6470_GETSTATUS_ID //!< Returns the STATUS register value
+} eL6470_AppCmdId_t;
+
+/**
+ * @brief The L6470 Status Register Flag identifiers.
+ */
+typedef enum {
+ HiZ_ID = 0, //!< HiZ flag identifier inside the L6470 Status Register
+ BUSY_ID, //!< BUSY flag identifier inside the L6470 Status Register
+ SW_F_ID, //!< SW_F flag identifier inside the L6470 Status Register
+ SW_EVN_ID, //!< SW_EVN flag identifier inside the L6470 Status Register
+ DIR_ID, //!< DIR flag identifier inside the L6470 Status Register
+ MOT_STATUS_ID, //!< MOT_STATUS flag identifier inside the L6470 Status Register
+ NOTPERF_CMD_ID, //!< NOTPERF_CMD flag identifier inside the L6470 Status Register
+ WRONG_CMD_ID, //!< WRONG_CMD flag identifier inside the L6470 Status Register
+ UVLO_ID, //!< UVLO flag identifier inside the L6470 Status Register
+ TH_WRN_ID, //!< TH_WRN flag identifier inside the L6470 Status Register
+ TH_SD_ID, //!< TH_SD flag identifier inside the L6470 Status Register
+ OCD_ID, //!< OCD flag identifier inside the L6470 Status Register
+ STEP_LOSS_A_ID, //!< STEP_LOSS_A flag identifier inside the L6470 Status Register
+ STEP_LOSS_B_ID, //!< STEP_LOSS_B flag identifier inside the L6470 Status Register
+ SCK_MOD_ID //!< SCK_MOD flag identifier inside the L6470 Status Register
+} eL6470_StatusRegisterFlagId_t;
+
+/**
+ * @brief The L6470 Direction identifiers.
+ */
+typedef enum {
+ L6470_DIR_REV_ID = 0, //!< Reverse direction
+ L6470_DIR_FWD_ID //!< Forward direction
+} eL6470_DirId_t;
+
+/**
+ * @brief The L6470 Action identifiers about ABS_POS register.
+ */
+typedef enum {
+ L6470_ACT_RST_ID = 0, //!< ABS_POS register is reset
+ L6470_ACT_CPY_ID //!< ABS_POS register value is copied into the MARK register
+} eL6470_ActId_t;
+
+/**
+ * @brief The L6470 Status Register Flag states.
+ */
+typedef enum {
+ ZERO_F = 0, //!< The flag is '0'
+ ONE_F = !ZERO_F //!< The flag is '1'
+} eFlagStatus_t;
+
+/**
+ * @brief The L6470 Motor Directions.
+ */
+typedef enum {
+ REVERSE_F = 0, //!< Reverse motor direction
+ FORWARD_F = !REVERSE_F //!< Forward motor direction
+} eMotorDirection_t;
+
+/**
+ * @brief The L6470 Motor Status.
+ */
+typedef enum {
+ STOPPED_F = 0, //!< Stopped
+ ACCELERATION_F = 1, //!< Acceleration
+ DECELERATION_F = 2, //!< Deceleration
+ CONSTANTSPEED_F = 3 //!< Constant speed
+} eMotorStatus_t;
+
+/**
+ * @brief The possible stepping modes for L6470.
+ */
+typedef enum
+{
+ FULL_STEP = 0x00, //!< Full-step
+ HALF_STEP = 0x01, //!< Half-step
+ MICROSTEP_1_4 = 0x02, //!< 1/4 microstep
+ MICROSTEP_1_8 = 0x03, //!< 1/8 microstep
+ MICROSTEP_1_16 = 0x04, //!< 1/16 microstep
+ MICROSTEP_1_32 = 0x05, //!< 1/32 microstep
+ MICROSTEP_1_64 = 0x06, //!< 1/64 microstep
+ MICROSTEP_1_128 = 0x07 //!< 1/128 microstep
+} eMotorStepMode_t;
+
+/**
+ * @brief The identifiers for the possible L6470 alarm conditions.
+ */
+typedef enum
+{
+ L6470_OVERCURRENT = 0x01, //!< Overcurrent
+ L6470_THERMAL_SHUTDOWN = 0x02, //!< Thermal shutdown
+ L6470_THERMAL_WARNING = 0x04, //!< Thermal warning
+ L6470_UNDERVOLTAGE = 0x08, //!< Undervoltage
+ L6470_STALL_DETECTION_A = 0x10, //!< Stall detection (Bridge A)
+ L6470_STALL_DETECTION_B = 0x20, //!< Stall detection (Bridge B)
+ L6470_SWITCH_TURN_ON_EVENT = 0x40, //!< Switch turn-on event
+ L6470_WRONG_OR_NON_PERFORMABLE_COMMAND = 0x80 //!< Wrong or non-performable command
+} eL6470_AlarmCondition_t;
+
+/**
+ * @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details).
+ */
+typedef struct {
+ uint8_t STEP_SEL: 3; //!< Step mode
+ uint8_t WRT: 1; //!< When the register is written, this bit should be set to 0.
+ uint8_t SYNC_SEL: 3; //!< Synchronization selection
+ uint8_t SYNC_EN: 1; //!< Synchronization enable
+} sL6470_StepModeRegister_t;
+
+/**
+ * @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details).
+ */
+typedef struct {
+ uint8_t OCD_EN: 1; //!< Overcurrent
+ uint8_t TH_SD_EN: 1; //!< Thermal shutdown
+ uint8_t TH_WRN_EN: 1; //!< Thermal warning
+ uint8_t UVLO_EN: 1; //!< Undervoltage
+ uint8_t STEP_LOSS_A_EN: 1; //!< Stall detection (Bridge A)
+ uint8_t STEP_LOSS_B_EN: 1; //!< Stall detection (Bridge B)
+ uint8_t SW_EVN_EN: 1; //!< Switch turn-on event
+ uint8_t WRONG_NOTPERF_CMD_EN: 1; //!< Wrong or non-performable command
+} sL6470_AlarmEnRegister_t;
+
+/**
+ * @brief The L6470 CONFIG Register (see L6470 DataSheet for more details).
+ */
+typedef struct {
+ uint8_t OSC_SEL: 3; //!< Oscillator Selection
+ uint8_t EXT_CLK: 1; //!< External Clock
+ uint8_t SW_MODE: 1; //!< Switch mode
+ uint8_t EN_VSCOMP: 1; //!< Motor supply voltage compensation
+ uint8_t RESERVED: 1; //!< RESERVED
+ uint8_t OC_SD: 1; //!< Overcurrent event
+ uint8_t POW_SR: 2; //!< Output slew rate
+ uint8_t F_PWM_DEC: 3; //!< Multiplication factor
+ uint8_t F_PWM_INT: 3; //!< Integer division factor
+} sL6470_ConfigRegister_t;
+
+/**
+ * @brief The L6470 STATUS Register (see L6470 DataSheet for more details).
+ */
+typedef struct {
+ uint8_t HiZ: 1; //!< The bridges are in high impedance state (the flag is active high)
+ uint8_t BUSY: 1; //!< BUSY pin status (the flag is active low)
+ uint8_t SW_F: 1; //!< SW input status (the flag is low for open and high for closed)
+ uint8_t SW_EVN: 1; //!< Switch turn-on event (the flag is active high)
+ uint8_t DIR: 1; //!< The current motor direction (1 as forward, 0 as reverse)
+ uint8_t MOT_STATUS: 2; //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed)
+ uint8_t NOTPERF_CMD: 1; //!< The command received by SPI cannot be performed (the flag is active high)
+ uint8_t WRONG_CMD: 1; //!< The command received by SPI does not exist at all (the flag is active high)
+ uint8_t UVLO: 1; //!< Undervoltage lockout or reset events (the flag is active low)
+ uint8_t TH_WRN: 1; //!< Thermal warning event (the flag is active low)
+ uint8_t TH_SD: 1; //!< Thermal shutdown event (the flag is active low)
+ uint8_t OCD: 1; //!< Overcurrent detection event (the flag is active low)
+ uint8_t STEP_LOSS_A: 1; //!< Stall detection on bridge A (the flag is active low)
+ uint8_t STEP_LOSS_B: 1; //!< Stall detection on bridge B (the flag is active low)
+ uint8_t SCK_MOD: 1; //!< Step-clock mode (the flag is active high)
+} sL6470_StatusRegister_t;
+
+/**
+ * @brief Stepper Motor Registers
+ */
+typedef struct
+{
+ uint32_t ABS_POS; //!< CurrentPosition Register
+ uint16_t EL_POS; //!< ElectricalPosition Register
+ uint32_t MARK; //!< MarkPosition Register
+ uint32_t SPEED; //!< CurrentSpeed Register
+ uint16_t ACC; //!< Acceleration Register
+ uint16_t DEC; //!< Deceleration Register
+ uint16_t MAX_SPEED; //!< MaximumSpeed Register
+ uint16_t MIN_SPEED; //!< MinimumSpeed Register
+ uint16_t FS_SPD; //!< FullStepSpeed Register
+ uint8_t KVAL_HOLD; //!< HoldingKval Register
+ uint8_t KVAL_RUN; //!< ConstantSpeedKval Register
+ uint8_t KVAL_ACC; //!< AccelerationStartingKval Register
+ uint8_t KVAL_DEC; //!< DecelerationStartingKval Register
+ uint16_t INT_SPEED; //!< IntersectSpeed Register
+ uint8_t ST_SLP; //!< StartSlope Register
+ uint8_t FN_SLP_ACC; //!< AccelerationFinalSlope Register
+ uint8_t FN_SLP_DEC; //!< DecelerationFinalSlope Register
+ uint8_t K_THERM; //!< ThermalCompensationFactor Register
+ uint8_t ADC_OUT; //!< AdcOutput Register
+ uint8_t OCD_TH; //!< OcdThreshold Register
+ uint8_t STALL_TH; //!< StallThreshold Register
+ uint8_t STEP_MODE; //!< StepMode Register
+ uint8_t ALARM_EN; //!< AlarmEnable Register
+ uint16_t CONFIG; //!< Config Register
+ uint16_t STATUS; //!< Status Register
+} StepperMotorRegister_t;
+
+/**
+ * @brief MICROSTEPPING_MOTOR driver virtual table structure definition.
+ */
+typedef struct
+{
+ /* ACTION ----------------------------------------------------------------*
+ * Declare here the component's generic functions. *
+ * Tag this group of functions with the " Generic " C-style comment. *
+ * A component's interface has to define at least the two generic *
+ * functions provided here below within the "Example" section, as the *
+ * first and second functions of its Virtual Table. They have to be *
+ * specified exactly in the given way. *
+ * *
+ * Example: *
+ * status_t (*Init) (void *handle, void *init); *
+ * status_t (*ReadID) (void *handle, uint8_t *id); *
+ *------------------------------------------------------------------------*/
+ /* Generic */
+ status_t (*Init)(void *handle, void *init);
+ status_t (*ReadID)(void *handle, uint8_t *id);
+
+ /* ACTION ----------------------------------------------------------------*
+ * Declare here the component's specific functions. *
+ * Tag this group of functions with the " Specific " C-style comment. *
+ * Do not specify any function if not required. *
+ * *
+ * Example: *
+ * status_t (*GetValue) (void *handle, float *f); *
+ *------------------------------------------------------------------------*/
+ /* Specific */
+ void (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
+ uint32_t (*GetParam)(void *handle, eL6470_RegId_t L6470_RegId);
+ void (*Run)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void (*StepClock)(void *handle, eL6470_DirId_t L6470_DirId);
+ void (*Move)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+ void (*GoTo)(void *handle, uint32_t AbsPos);
+ void (*GoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+ void (*GoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void (*ReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+ void (*GoHome)(void *handle);
+ void (*GoMark)(void *handle);
+ void (*ResetPos)(void *handle);
+ void (*ResetDevice)(void *handle);
+ void (*SoftStop)(void *handle);
+ void (*HardStop)(void *handle);
+ void (*SoftHiZ)(void *handle);
+ void (*HardHiZ)(void *handle);
+ uint16_t (*GetStatus)(void *handle);
+ void (*PrepareSetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
+ void (*PrepareGetParam)(void *handle, eL6470_RegId_t L6470_RegId);
+ void (*PrepareRun)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void (*PrepareStepClock)(void *handle, eL6470_DirId_t L6470_DirId);
+ void (*PrepareMove)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+ void (*PrepareGoTo)(void *handle, uint32_t AbsPos);
+ void (*PrepareGoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+ void (*PrepareGoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void (*PrepareReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+ void (*PrepareGoHome)(void *handle);
+ void (*PrepareGoMark)(void *handle);
+ void (*PrepareResetPos)(void *handle);
+ void (*PrepareResetDevice)(void *handle);
+ void (*PrepareSoftStop)(void *handle);
+ void (*PrepareHardStop)(void *handle);
+ void (*PrepareSoftHiZ)(void *handle);
+ void (*PrepareHardHiZ)(void *handle);
+ void (*PrepareGetStatus)(void *handle);
+ uint8_t (*CheckStatusRegisterFlag)(void *handle, uint8_t L6470_StatusRegisterFlagId);
+ uint8_t* (*PerformPreparedApplicationCommand)(void *handle);
+ uint8_t* (*GetRegisterName)(void *handle, uint8_t id);
+ int32_t (*AbsPos_2_Position)(void *handle, uint32_t AbsPos);
+ uint32_t (*Position_2_AbsPos)(void *handle, int32_t Position);
+ float (*Speed_2_Step_s)(void *handle, uint32_t Speed);
+ uint32_t (*Step_s_2_Speed)(void *handle, float Step_s);
+ float (*Acc_2_Step_s2)(void *handle, uint16_t Acc);
+ uint16_t (*Step_s2_2_Acc)(void *handle, float Step_s2);
+ float (*Dec_2_Step_s2)(void *handle, uint16_t Dec);
+ uint16_t (*Step_s2_2_Dec)(void *handle, float Step_s2);
+ float (*MaxSpeed_2_Step_s)(void *handle, uint16_t MaxSpeed);
+ uint16_t (*Step_s_2_MaxSpeed)(void *handle, float Step_s);
+ float (*MinSpeed_2_Step_s)(void *handle, uint16_t MinSpeed);
+ uint16_t (*Step_s_2_MinSpeed)(void *handle, float Step_s);
+ float (*FsSpd_2_Step_s)(void *handle, uint16_t FsSpd);
+ uint16_t (*Step_s_2_FsSpd)(void *handle, float Step_s);
+ float (*IntSpeed_2_Step_s)(void *handle, uint16_t IntSpeed);
+ uint16_t (*Step_s_2_IntSpeed)(void *handle, float Step_s);
+ float (*StSlp_2_s_Step)(void *handle, uint8_t StSlp);
+ uint8_t (*s_Step_2_StSlp)(void *handle, float s_Step);
+ float (*FnSlpAcc_2_s_Step)(void *handle, uint8_t FnSlpAcc);
+ uint8_t (*s_Step_2_FnSlpAcc)(void *handle, float s_Step);
+ float (*FnSlpDec_2_s_Step)(void *handle, uint8_t FnSlpDec);
+ uint8_t (*s_Step_2_FnSlpDec)(void *handle, float s_Step);
+ float (*OcdTh_2_mA)(void *handle, uint8_t OcdTh);
+ uint8_t (*mA_2_OcdTh)(void *handle, float mA);
+ float (*StallTh_2_mA)(void *handle, uint8_t StallTh);
+ uint8_t (*mA_2_StallTh)(void *handle, float mA);
+ uint32_t (*ExtractReturnedData)(void *handle, uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+} MICROSTEPPING_MOTOR_VTable_t;
+
+/**
+ * @brief Stepper Motor Board Driver Structure
+ */
+typedef struct
+{
+ void (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t);
+ uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t);
+ void (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+ void (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t);
+ void (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+ void (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos);
+ void (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
+ void (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t);
+ void (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t);
+ void (*GoHome)(uint8_t, uint8_t);
+ void (*GoMark)(uint8_t, uint8_t);
+ void (*ResetPos)(uint8_t, uint8_t);
+ void (*ResetDevice)(uint8_t, uint8_t);
+ void (*SoftStop)(uint8_t, uint8_t);
+ void (*HardStop)(uint8_t, uint8_t);
+ void (*SoftHiZ)(uint8_t, uint8_t);
+ void (*HardHiZ)(uint8_t, uint8_t);
+ uint16_t (*GetStatus)(uint8_t, uint8_t);
+ uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
+ uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
+} MICROSTEPPING_MOTOR_EB_VTable_t;
+
+/**
+ * @brief Stepper Motor Handle Structure
+ */
+typedef struct __StepperMotorDriver_HandleTypeDef
+{
+ uint8_t DaisyChainPosition;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_VTable_t *Command;
+} StepperMotorDriverHandle_t;
+
+/**
+ * @brief Stepper Motor Handle Structure
+ */
+typedef struct __StepperMotorBoard_HandleTypeDef
+{
+ uint8_t StackedPosition;
+ void (*Config)(void*);
+ MICROSTEPPING_MOTOR_EB_VTable_t *Command;
+ StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
+ uint8_t (*Select)(uint8_t);
+} StepperMotorBoardHandle_t;
+
+/**
+ * @}
+ */ /* StepperMotorExportedTypes */
+
+/**
+ * @}
+ */ /* MicrosteppingMotorDriver */
+
+/**
+ * @}
+ */ /* Components */
+
+/**
+ * @}
+ */ /* BSP */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __MICROSTEPPINGMOTOR_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/Components/L6470/L6470.cpp Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,1460 @@
+/**
+ ******************************************************************************
+ * @file l6470_class.cpp
+ * @date 01/10/2014 12:00:00
+ * @brief This file provides set of firmware functions to manage the
+ * L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.c
+ Revision: 0
+*/
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "L6470.h"
+
+
+/* Variables -----------------------------------------------------------------*/
+
+/* Number of instantiated devices on an expansion board. */
+uint8_t L6470::number_of_devices = 0;
+
+/* SPI Transmission for Daisy-Chain Configuration. */
+eFlagStatus_t L6470::L6470_DaisyChain_HalfPrepared;
+sL6470_AppCmdPkg_t L6470::L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
+uint8_t L6470::L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+uint8_t L6470::L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+
+/**
+ * @brief Array whose elements are a structure in which store information about
+ * the L6470 Registers (the address, the names, the length in bits, the
+ * reset value)
+ */
+const sL6470_Register_t L6470::_L6470_Register[L6470REGIDSIZE] = {
+ {0x01 , "ABS_POS", 22, 3, 0x000000}, //!< Current position
+ {0x02 , "EL_POS", 9, 2, 0x000}, //!< Electrical position
+ {0x03 , "MARK", 22, 3, 0x000000}, //!< Mark position
+ {0x04 , "SPEED", 20, 3, 0x0000}, //!< Current speed
+ {0x05 , "ACC", 12, 2, 0x08A}, //!< Acceleration
+ {0x06 , "DEC", 12, 2, 0x08A}, //!< Deceleration
+ {0x07 , "MAX_SPEED", 10, 2, 0x041}, //!< Maximum speed
+ {0x08 , "MIN_SPEED", 13, 2, 0x000}, //!< Minimum speed
+ {0x15 , "FS_SPD", 10, 2, 0x027}, //!< Full-step speed
+ {0x09 , "KVAL_HOLD", 8, 1, 0x29}, //!< Holding KVAL
+ {0x0A , "KVAL_RUN", 8, 1, 0x29}, //!< Constant speed KVAL
+ {0x0B , "KVAL_ACC", 8, 1, 0x29}, //!< Acceleration starting KVAL
+ {0x0C , "KVAL_DEC", 8, 1, 0x29}, //!< Deceleration starting KVAL
+ {0x0D , "INT_SPEED", 14, 2, 0x0408}, //!< Intersect speed
+ {0x0E , "ST_SLP", 8, 1, 0x19}, //!< Start slope
+ {0x0F , "FN_SLP_ACC", 8, 1, 0x29}, //!< Acceleration final slope
+ {0x10 , "FN_SLP_DEC", 8, 1, 0x29}, //!< Deceleration final slope
+ {0x11 , "K_THERM", 4, 1, 0x0}, //!< Thermal compensation factor
+ {0x12 , "ADC_OUT", 5, 1, 0x00}, //!< ADC output, (the reset value is according to startup conditions)
+ {0x13 , "OCD_TH", 4, 1, 0x8}, //!< OCD threshold
+ {0x14 , "STALL_TH", 7, 1, 0x40}, //!< STALL threshold
+ {0x16 , "STEP_MODE", 8, 1, 0x7}, //!< Step mode
+ {0x17 , "ALARM_EN", 8, 1, 0xFF}, //!< Alarm enable
+ {0x18 , "CONFIG", 16, 2, 0x2E88}, //!< IC configuration
+ {0x19 , "STATUS", 16, 2, 0x0000} //!< Status, (the reset value is according to startup conditions)
+};
+
+/**
+ * @brief Array whose elements are a structure in which store information about
+ * the L6470 Application Commands (the mnemonic name, the number of
+ * needed parameters, the related funtion to call)
+ */
+const sL6470_ApplicationCommand_t L6470::_L6470_ApplicationCommand[L6470APPCMDIDSIZE] = {
+ {"NOP", 0x00, 0},
+ {"SETPARAM", 0x00, 2},
+ {"GETPARAM", 0x20, 1},
+ {"RUN", 0x50, 2},
+ {"STEPCLOCK", 0x58, 1},
+ {"MOVE", 0x40, 2},
+ {"GOTO", 0x60, 1},
+ {"GOTO_DIR", 0x68, 2},
+ {"GOUNTIL", 0x82, 3},
+ {"RELEASESW", 0x92, 2},
+ {"GOHOME", 0x70, 0},
+ {"GOMARK", 0x78, 0},
+ {"RESETPOS", 0xD8, 0},
+ {"RESETDEVICE", 0xC0, 0},
+ {"SOFTSTOP", 0xB0, 0},
+ {"HARDSTOP", 0xB8, 0},
+ {"SOFTHIZ", 0xA0, 0},
+ {"HARDHIZ", 0xA8, 0},
+ {"GETSTATUS", 0xD0, 0}
+};
+
+/**
+ * @brief The mnemonic names for the L6470 direction
+ */
+const sL6470_Direction_t L6470::_L6470_Direction[L6470DIRIDSIZE] = {
+ {"REV", 0x00}, //!< Reverse direction
+ {"FWD", 0x01} //!< Forward direction
+};
+
+/**
+ * @brief Action taken about ABS_POS register
+ */
+const sL6470_ACT_t L6470::_L6470_ACT[L6470ACTIDSIZE] = {
+ {"RST", 0x00}, //!< ABS_POS register is reset
+ {"CPY", 0x01} //!< ABS_POS register value is copied into the MARK register
+};
+
+/* End of L6470_Private_Constants */
+
+/**
+ * @defgroup L6470_Private_Variables
+ * @brief L6470 Private Variables.
+ * @{
+ */
+
+/* End of L6470_Private_Variables */
+
+
+/**
+ * @addtogroup L6470_Private_Functions
+ * @{
+ */
+
+
+/* Methods -------------------------------------------------------------------*/
+
+/**
+ * @brief Reset the structure used to store the identifier of the L6470
+ * application command and its the needed parameters.
+ * @param pL6470_AppCmdPkg The structure to be reset.
+ */
+void L6470::L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg)
+{
+ uint8_t id;
+
+ for(id=0; id<L6470DAISYCHAINSIZE; id++)
+ {
+ (pL6470_AppCmdPkg+id)->L6470_AppCmdId=(eL6470_AppCmdId_t)0;
+ (pL6470_AppCmdPkg+id)->p1=0;
+ (pL6470_AppCmdPkg+id)->p2=0;
+ (pL6470_AppCmdPkg+id)->p3=0;
+ }
+}
+
+/**
+ * @brief Fill the structure used to store the identifier of the L6470
+ * application command and its the needed parameters.
+ * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
+ * @param pL6470_AppCmdPkg The structure to be filled.
+ * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
+ * @param p1 The 1st parameter (if it is not needed it will be not considered).
+ * @param p2 The 2nd parameter (if it is not needed it will be not considered).
+ * @param p3 The 3rd parameter (if it is not needed it will be not considered).
+ */
+void L6470::L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
+{
+ (pL6470_AppCmdPkg+L6470_Id)->L6470_AppCmdId = L6470_AppCmdId;
+ (pL6470_AppCmdPkg+L6470_Id)->p1 = p1;
+ (pL6470_AppCmdPkg+L6470_Id)->p2 = p2;
+ (pL6470_AppCmdPkg+L6470_Id)->p3 = p3;
+}
+
+/**
+ * @brief This function will fill the column of the L6470_AppCmdPkg related
+ * the L6470 to be addressed inside the daisy chain.
+ *
+ * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
+ * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
+ * @param L6470_AppCmdId The identifier of the L6470 application command to be sent.
+ * @param p1 The 1st parameter (if it is not needed it will be not considered).
+ * @param p2 The 2nd parameter (if it is not needed it will be not considered).
+ * @param p3 The 3rd parameter (if it is not needed it will be not considered).
+ */
+void L6470::L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3)
+{
+ if(!L6470_DaisyChain_HalfPrepared)
+ {
+ L6470_DaisyChain_HalfPrepared = ONE_F; /* To avoid to delete the previous entered command */
+ L6470_ResetAppCmdPkg(pL6470_AppCmdPkg);
+ }
+
+ L6470_FillAppCmdPkg(pL6470_AppCmdPkg, L6470_AppCmdId, p1, p2, p3);
+}
+
+/**
+ * @brief This function will translate the data inside the L6470_AppCmdPkg into
+ * the right data to be sent via SPI to the L6470 daisy chain.
+ *
+ * @param pL6470_AppCmdPkg Pointer to the sL6470_AppCmdPkg_t to be filled.
+ * @param pL6470_DaisyChainSpiTxStruct Pointer to the structure used by SPI to send the commands.
+ */
+void L6470::L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct)
+{
+ uint8_t PkgId;
+ uint8_t PARAMLengthBytes; /* The number of bytes related to the numeric value for the addressed register */
+ uint8_t spibyte;
+
+ /* Reset the structure used to send the command to the L6470 Daisy Chain through the SPI */
+ uint8_t i = 0;
+ for(spibyte=0;spibyte<L6470MAXSPICMDBYTESIZE;spibyte++)
+ for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
+ *(pL6470_DaisyChainSpiTxStruct+(i++)) = 0x00;
+
+ for(PkgId=0; PkgId<L6470DAISYCHAINSIZE; PkgId++)
+ {
+ /* Build the 1st bytes to transmit with the binary code of the command */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) = (L6470_ApplicationCommand[(pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId].BinaryCode);
+
+ /* Perform the related L6470_AppCmdId */
+ switch((pL6470_AppCmdPkg+PkgId)->L6470_AppCmdId)
+ {
+ case L6470_NOP_ID:
+ break;
+ case L6470_SETPARAM_ID:
+ /* Build the 1st bytes to transmit (PARAM) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
+
+ /* The length, in byte, of this register (PARAM) is... */
+ PARAMLengthBytes = L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].LengthByte;
+
+ /* Build the others bytes to transmit (VALUE) */
+ for (spibyte=1; spibyte<(PARAMLengthBytes+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(PARAMLengthBytes-spibyte)));
+ }
+ break;
+ case L6470_GETPARAM_ID:
+ /* Build the 1st bytes to transmit (PARAM) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Register[((pL6470_AppCmdPkg+PkgId)->p1)].Address);
+ break;
+ case L6470_RUN_ID:
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+
+ /* Build the others bytes to transmit (SPD) */
+ for (spibyte=1; spibyte<(3+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+ }
+ break;
+ case L6470_STEPCLOCK_ID:
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+ break;
+ case L6470_MOVE_ID:
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+
+ /* Build the others bytes to transmit (N_STEP) */
+ for (spibyte=1; spibyte<(3+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+ }
+ break;
+ case L6470_GOTO_ID:
+ /* Build the others bytes to transmit (ABS_POS) */
+ for (spibyte=1; spibyte<(3+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p1) >> (8*(3-spibyte)));
+ }
+ break;
+ case L6470_GOTODIR_ID:
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode);
+
+ /* Build the others bytes to transmit (ABS_POS) */
+ for (spibyte=1; spibyte<(3+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p2) >> (8*(3-spibyte)));
+ }
+ break;
+ case L6470_GOUNTIL_ID:
+ /* Build the 1st bytes to transmit (ACT) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
+
+ /* Build the others bytes to transmit (SPD) */
+ for (spibyte=1; spibyte<(3+1); spibyte++)
+ {
+ *(pL6470_DaisyChainSpiTxStruct+((spibyte*L6470DAISYCHAINSIZE)+PkgId)) = (uint8_t)(((pL6470_AppCmdPkg+PkgId)->p3) >> (8*(3-spibyte)));
+ }
+ break;
+ case L6470_RELEASESW_ID:
+ /* Build the 1st bytes to transmit (ACT) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= ((L6470_ACT[((pL6470_AppCmdPkg+PkgId)->p1)].BinaryCode)<<3);
+ /* Build the 1st bytes to transmit (DIR) */
+ *(pL6470_DaisyChainSpiTxStruct+((0*L6470DAISYCHAINSIZE)+PkgId)) |= (L6470_Direction[((pL6470_AppCmdPkg+PkgId)->p2)].BinaryCode);
+ break;
+ case L6470_GOHOME_ID:
+ break;
+ case L6470_GOMARK_ID:
+ break;
+ case L6470_RESETPOS_ID:
+ break;
+ case L6470_RESETDEVICE_ID:
+ break;
+ case L6470_SOFTSTOP_ID:
+ break;
+ case L6470_HARDSTOP_ID:
+ break;
+ case L6470_SOFTHIZ_ID:
+ break;
+ case L6470_HARDHIZ_ID:
+ break;
+ case L6470_GETSTATUS_ID:
+ break;
+ }
+ }
+}
+
+/* End of L6470_Private_Functions */
+
+/**
+ * @addtogroup L6470_Exported_Functions
+ * @{
+ */
+
+/**
+ * @addtogroup L6470_Conversion_Functions
+ * @brief The following functions act just on one driver inside the L6470
+ * daisy chain. The command is immediately sent.
+ * @{
+ */
+
+ /**
+ * @brief Convert the absolute position as 2's complement format into the signed number.
+ *
+ * @param AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
+ * @retval Position The position as signed number.
+ */
+int32_t L6470::L6470_AbsPos_2_Position(uint32_t AbsPos)
+{
+ if (AbsPos > L6470_MAX_POSITION)
+ return (AbsPos - (L6470_POSITION_RANGE + 1));
+ else
+ return AbsPos;
+}
+
+/**
+ * @brief Convert the position as signed number into absolute position as 2's complement format.
+ *
+ * @param Position The position as signed number.
+ * @retval AbsPos The absolute position in the range from [-(2^21)] to [+(2^21)-1].
+ */
+uint32_t L6470::L6470_Position_2_AbsPos(int32_t Position)
+{
+ if ((Position >= 0) && (Position <= L6470_MAX_POSITION))
+ return Position;
+ else
+ {
+ if ((Position >= L6470_MIN_POSITION) && (Position < 0))
+ return (Position + (L6470_POSITION_RANGE + 1));
+ else
+ return (L6470_POSITION_RANGE + 1); // OVF
+ }
+}
+
+/**
+ * @brief Convert the SPEED register value into step/s.
+ *
+ * @param Speed The SPEED register value.
+ * @retval step/s The speed as step/s.
+ */
+float L6470::L6470_Speed_2_Step_s(uint32_t Speed)
+{
+ return (Speed * ((float)14.9012e-3));
+}
+
+/**
+ * @brief Convert the speed as step/s into a right value for SPEED register.
+ *
+ * @param step/s The speed as step/s.
+ * @retval Speed The SPEED register value.
+ */
+uint32_t L6470::L6470_Step_s_2_Speed(float Step_s)
+{
+ if (Step_s <= (L6470_MAX_SPEED * ((float)14.9012e-3)))
+ return (uint32_t)(Step_s / ((float)14.9012e-3));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the ACC register value into step/(s^2).
+ *
+ * @param Acc The ACC register value.
+ * @retval step/(s^2) The acceleration as step/(s^2).
+ */
+float L6470::L6470_Acc_2_Step_s2(uint16_t Acc)
+{
+ if (Acc <= L6470_MAX_ACC)
+ return (Acc * ((float)1.4552e1));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the acceleartion as step/(s^2) into a right value for ACC register.
+ *
+ * @param step/(s^2) The acceleration as step/(s^2).
+ * @retval Acc The ACC register value.
+ */
+uint16_t L6470::L6470_Step_s2_2_Acc(float Step_s2)
+{
+ if (Step_s2 <= (L6470_MAX_ACC * ((float)1.4552e1)))
+ return (uint16_t)(Step_s2 / ((float)1.4552e1));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the DEC register value into step/(s^2).
+ *
+ * @param Dec The DEC register value.
+ * @retval step/(s^2) The deceleration as step/(s^2).
+ */
+float L6470::L6470_Dec_2_Step_s2(uint16_t Dec)
+{
+ if (Dec <= L6470_MAX_DEC)
+ return (Dec * ((float)1.4552e1));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the deceleration as step/(s^2) into a right value for DEC register.
+ *
+ * @param step/(s^2) The deceleration as step/(s^2).
+ * @retval Dec The DEC register value.
+ */
+uint16_t L6470::L6470_Step_s2_2_Dec(float Step_s2)
+{
+ if (Step_s2 <= (L6470_MAX_DEC * ((float)1.4552e1)))
+ return (uint16_t)(Step_s2 / ((float)1.4552e1));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the MAX_SPEED register value into step/s.
+ *
+ * @param MaxSpeed The MAX_SPEED register value.
+ * @retval step/s The max speed as step/s.
+ */
+float L6470::L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed)
+{
+ if (MaxSpeed <= L6470_MAX_MAX_SPEED)
+ return (MaxSpeed * ((float)15.2588));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the max speed as step/s into a right value for MAX_SPEED register.
+ *
+ * @param step/s The max speed as step/s.
+ * @retval MaxSpeed The MAX_SPEED register value.
+ */
+uint16_t L6470::L6470_Step_s_2_MaxSpeed(float Step_s)
+{
+ if (Step_s <= (L6470_MAX_MAX_SPEED * ((float)15.2588)))
+ return (uint16_t)(Step_s / ((float)15.2588));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the MIN_SPEED register value into step/s.
+ *
+ * @param MinSpeed The MIN_SPEED register value.
+ * @retval step/s The min speed as step/s.
+ */
+float L6470::L6470_MinSpeed_2_Step_s(uint16_t MinSpeed)
+{
+ if (MinSpeed <= L6470_MAX_MIN_SPEED)
+ return (MinSpeed * ((float)238.4186e-3));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the min speed as step/s into a right value for MIN_SPEED register.
+ *
+ * @param step/s The min speed as step/s.
+ * @retval MinSpeed The MIN_SPEED register value.
+ */
+uint16_t L6470::L6470_Step_s_2_MinSpeed(float Step_s)
+{
+ if (Step_s <= (L6470_MAX_MIN_SPEED * ((float)238.4186e-3)))
+ return (uint16_t)(Step_s / ((float)238.4186e-3));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the FS_SPD register value into step/s.
+ *
+ * @param FsSpd The FS_SPD register value.
+ * @retval step/s The full-step speed as step/s.
+ */
+float L6470::L6470_FsSpd_2_Step_s(uint16_t FsSpd)
+{
+ if (FsSpd <= L6470_MAX_FS_SPD)
+ return ((FsSpd+0.5) * ((float)15.25));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the full-step speed as step/s into a right value for FS_SPD register.
+ *
+ * @param step/s The full-step speed as step/s.
+ * @retval FsSpd The FS_SPD register value.
+ */
+uint16_t L6470::L6470_Step_s_2_FsSpd(float Step_s)
+{
+ if (Step_s <= ((L6470_MAX_FS_SPD+0.5) * ((float)15.25)))
+ return (uint16_t)((float)(Step_s / ((float)15.25)) - (float)0.5);
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the INT_SPEED register value into step/s.
+ *
+ * @param IntSpeed The INT_SPEED register value.
+ * @retval step/s The intersect speed as step/s.
+ */
+float L6470::L6470_IntSpeed_2_Step_s(uint16_t IntSpeed)
+{
+ if (IntSpeed <= L6470_MAX_INT_SPEED)
+ return (IntSpeed * ((float)59.6046e-3));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
+ *
+ * @param step/s The full-step speed as step/s.
+ * @retval FsSpd The FS_SPD register value.
+ */
+uint16_t L6470::L6470_Step_s_2_IntSpeed(float Step_s)
+{
+ if (Step_s <= (L6470_MAX_INT_SPEED * ((float)59.6046e-3)))
+ return (uint16_t)(Step_s / ((float)59.6046e-3));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the ST_SLP register value into s/step.
+ *
+ * @param StartSlope The ST_SLP register value.
+ * @retval s/step The start slope as s/step.
+ */
+float L6470::L6470_StSlp_2_s_Step(uint8_t StSlp)
+{
+// if (StSlp <= L6470_MAX_ST_SLP)
+ return (StSlp * ((float)1.5686e-5));
+// else
+// return 0; // Warning
+}
+
+/**
+ * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
+ *
+ * @param step/s The full-step speed as step/s.
+ * @retval FsSpd The FS_SPD register value.
+ */
+uint8_t L6470::L6470_s_Step_2_StSlp(float s_Step)
+{
+ if (s_Step <= (L6470_MAX_ST_SLP * ((float)1.5686e-5)))
+ return (uint8_t)(s_Step / ((float)1.5686e-5));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the INT_SPEED register value into step/s.
+ *
+ * @param IntSpeed The INT_SPEED register value.
+ * @retval step/s The intersect speed as step/s.
+ */
+float L6470::L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc)
+{
+// if (FnSlpAcc <= L6470_MAX_FN_SLP_ACC)
+ return (FnSlpAcc * ((float)1.5686e-5));
+// else
+// return 0; // Warning
+}
+
+/**
+ * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
+ *
+ * @param step/s The full-step speed as step/s.
+ * @retval FsSpd The FS_SPD register value.
+ */
+uint8_t L6470::L6470_s_Step_2_FnSlpAcc(float s_Step)
+{
+ if (s_Step <= (L6470_MAX_FN_SLP_ACC * ((float)1.5686e-5)))
+ return (uint8_t)(s_Step / ((float)1.5686e-5));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the INT_SPEED register value into step/s.
+ *
+ * @param IntSpeed The INT_SPEED register value.
+ * @retval step/s The intersect speed as step/s.
+ */
+float L6470::L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec)
+{
+// if (FnSlpDec <= L6470_MAX_FN_SLP_DEC)
+ return (FnSlpDec * ((float)1.5686e-5));
+// else
+// return 0; // Warning
+}
+
+/**
+ * @brief Convert the intersect speed as step/s into a right value for INT_SPEED register.
+ *
+ * @param step/s The full-step speed as step/s.
+ * @retval FsSpd The FS_SPD register value.
+ */
+uint8_t L6470::L6470_s_Step_2_FnSlpDec(float s_Step)
+{
+ if (s_Step <= (L6470_MAX_FN_SLP_DEC * ((float)1.5686e-5)))
+ return (uint8_t)(s_Step / ((float)1.5686e-5));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the OCD_TH register value into mA.
+ *
+ * @param OcdTh The OCD_TH register value.
+ * @retval mA The overcurrent threshold as mA.
+ */
+float L6470::L6470_OcdTh_2_mA(uint8_t OcdTh)
+{
+ if (OcdTh <= L6470_MAX_OCD_TH)
+ return ((OcdTh+1) * ((float)375));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the overcurrent threshold as mA into a right value for OCD_TH register.
+ *
+ * @param mA The overcurrent threshold as mA.
+ * @retval OcdTh The OCD_TH register value.
+ */
+uint8_t L6470::L6470_mA_2_OcdTh(float mA)
+{
+ float result, decimal;
+
+ if (mA <= ((L6470_MAX_OCD_TH+1) * ((float)375)))
+ {
+ result = (mA / ((float)375));
+ decimal = result - (uint8_t)result;
+
+ if (decimal < (float)0.5)
+ return ((uint8_t)result - 1);
+ else
+ return ((uint8_t)result);
+ }
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the STALL_TH register value into mA.
+ *
+ * @param StallTh The STALL_TH register value.
+ * @retval mA The stall detection threshold as mA.
+ */
+float L6470::L6470_StallTh_2_mA(uint8_t StallTh)
+{
+ if (StallTh <= L6470_MAX_STALL_TH)
+ return ((StallTh+1) * ((float)31.25));
+ else
+ return 0; // Warning
+}
+
+/**
+ * @brief Convert the stall detection threshold as mA into a right value for STALL_TH register.
+ *
+ * @param mA The stall detection threshold as mA.
+ * @retval StallTh The STALL_TH register value.
+ */
+uint8_t L6470::L6470_mA_2_StallTh(float mA)
+{
+ float result, decimal;
+
+ if (mA <= ((L6470_MAX_STALL_TH+1) * ((float)31.25)))
+ {
+ result = (mA / ((float)31.25));
+ decimal = result - (uint8_t)result;
+
+ if (decimal < (float)0.5)
+ return ((uint8_t)result - 1);
+ else
+ return ((uint8_t)result);
+ }
+ else
+ return 0; // Warning
+}
+
+/* End of L6470_Conversion_Functions */
+
+/**
+ * @addtogroup L6470_AppCMDs
+ * @{
+ */
+
+/**
+ * @brief SetParam command sets the register value equal to a new value.
+ *
+ * @param L6470_RegId The identifier of the L6470 register to be addressed.
+ * @param Value The new value.
+ */
+void L6470::L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief GetParam command reads the register value.
+ *
+ * @param L6470_RegId The identifier of the L6470 register to be addressed.
+ *
+ * @retval ReceivedValue The register value.
+ */
+uint32_t L6470::L6470_GetParam(eL6470_RegId_t L6470_RegId)
+{
+ uint8_t ValueLengthByte;
+ uint32_t ReceivedValue;
+
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+
+ ValueLengthByte = L6470_Register[L6470_RegId].LengthByte;
+
+ ReceivedValue = L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, ValueLengthByte);
+
+ return ReceivedValue;
+}
+
+/**
+ * @brief Run command produces a motion at fixed speed.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
+ */
+void L6470::L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief StepClock command switches the device in Step-clock mode.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ */
+void L6470::L6470_StepClock(eL6470_DirId_t L6470_DirId)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief Move command produces a motion of N_STEP microsteps.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param N_Step The number of microsteps.
+ */
+void L6470::L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief GoTo command produces a motion to ABS_POS absolute position through the shortest path.
+ *
+ * @param AbsPos The target absolute position.
+ */
+void L6470::L6470_GoTo(uint32_t AbsPos)
+{
+ if (AbsPos <= L6470_POSITION_RANGE)
+ {
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+ }
+}
+
+/**
+ * @brief GoTo_DIR command produces a motion to ABS_POS absolute position imposing a direction.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param AbsPos The target absolute position.
+ */
+void L6470::L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
+{
+ if (AbsPos <= L6470_POSITION_RANGE)
+ {
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+ }
+}
+
+/**
+ * @brief GoUntil command produces a motion at fixed speed imposing a direction
+ * until an external switch turn-on event occurs.
+ *
+ * @param L6470_ActId The identifier of the L6470 action about the absolute position.
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
+ */
+void L6470::L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief ReleaseSW command produces a motion at minimum speed imposing a direction
+ * until SW is released.
+ *
+ * @param L6470_ActId The identifier of the L6470 action about the absolute position.
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ */
+void L6470::L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief GoHome command produces a motion to the HOME position (zero position)
+ * via the shortest path.
+ *
+ */
+void L6470::L6470_GoHome(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief GoMark command produces a motion to the MARK position performing the
+ * minimum path.
+ *
+ */
+void L6470::L6470_GoMark(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief ResetPos command resets the ABS_POS register to zero.
+ *
+ */
+void L6470::L6470_ResetPos(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief ResetDevice command resets the device to power-up conditions.
+ *
+ */
+void L6470::L6470_ResetDevice(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief SoftStop command causes an immediate deceleration to zero speed and
+ * a consequent motor stop; the deceleration value used is the one stored
+ * in the DEC register.
+ *
+ */
+void L6470::L6470_SoftStop(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief HardStop command causes an immediate motor stop with infinite deceleration.
+ *
+ */
+void L6470::L6470_HardStop(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief SoftHiZ command disables the power bridges (high impedance state)
+ * after a deceleration to zero; the deceleration value used is the one
+ * stored in the DEC register.
+ *
+ */
+void L6470::L6470_SoftHiZ(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief HardHiZ command immediately disables the power bridges (high impedance state).
+ *
+ */
+void L6470::L6470_HardHiZ(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief GetStatus command returns the STATUS register value.
+ *
+ *
+ * @retval ReceivedValue The register value.
+ */
+uint16_t L6470::L6470_GetStatus(void)
+{
+ uint16_t ReceivedValue;
+
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+
+ ReceivedValue = (uint16_t)L6470_ExtractReturnedData((uint8_t*)L6470_DaisyChainSpiRxStruct, 2);
+
+ return ReceivedValue;
+}
+
+/* End of L6470_AppCMDs */
+
+/**
+ * @addtogroup L6470_AppCMDs_ToBePrepared
+ * @{
+ */
+
+/**
+ * @brief Prepare to send @ref L6470_SetParam command.
+ *
+ * @param L6470_RegId The identifier of the L6470 register to be addressed.
+ * @param Value The new value.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SETPARAM_ID, L6470_RegId, Value, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GetParam command.
+ *
+ * @param L6470_Id The L6470 identifier inside the daisy chain.
+ * @param L6470_RegId The identifier of the L6470 register to be addressed.
+ *
+ * @retval ReceivedValue The register value.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETPARAM_ID, L6470_RegId, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_Run command.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RUN_ID, L6470_DirId, Speed, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_StepClock command.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_STEPCLOCK_ID, L6470_DirId, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_Move command.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param N_Step The number of microsteps.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_MOVE_ID, L6470_DirId, N_Step, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GoTo command.
+ *
+ * @param AbsPos The target absolute position.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGoTo(uint32_t AbsPos)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTO_ID, AbsPos, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GoToDIR command.
+ *
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param AbsPos The target absolute position.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOTODIR_ID, L6470_DirId, AbsPos, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GoUntil command.
+ *
+ * @param L6470_ActId The identifier of the L6470 action about the absolute position.
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ * @param Speed The speed value as (([step/s] * 250e-9) / 2^-28)
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOUNTIL_ID, L6470_ActId, L6470_DirId, Speed);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_ReleaseSW.
+ *
+ * @param L6470_ActId The identifier of the L6470 action about the absolute position.
+ * @param L6470_DirId The identifier of the L6470 motion direction.
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RELEASESW_ID, L6470_ActId, L6470_DirId, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GoHome command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGoHome(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOHOME_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GoMark command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGoMark(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GOMARK_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_ResetPos command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareResetPos(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETPOS_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_ResetDevice command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareResetDevice(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_RESETDEVICE_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_SoftStop command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareSoftStop(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTSTOP_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_HardStop command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareHardStop(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDSTOP_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_SoftHiZ command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareSoftHiZ(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_SOFTHIZ_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_HardHiZ command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareHardHiZ(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_HARDHIZ_ID, 0, 0, 0);
+}
+
+/**
+ * @brief Prepare to send @ref L6470_GetStatus command.
+ *
+ *
+ * @note This function will properly fill the right column of the L6470_AppCmdPkg.
+ * @note The commad will be sent by @ref L6470_PerformPreparedApplicationCommand.
+ */
+void L6470::L6470_PrepareGetStatus(void)
+{
+ L6470_PrepareAppCmdPkg(L6470_AppCmdPkg, L6470_GETSTATUS_ID, 0, 0, 0);
+}
+
+/* End of L6470_AppCMDs_ToBePrepared */
+
+/**
+ * @brief Send via SPI the command stored inside the L6470_AppCmdPkg to the
+ * L6470 daisy chain.
+ *
+ * @retval (uint8_t*)data->L6470_DaisyChainSpiRxStruct The pointer to the structure
+ * containing returned values from each L6470 of the daisy chain for each
+ * sent SPI data.
+ */
+uint8_t* L6470::L6470_PerformPreparedApplicationCommand(void)
+{
+ L6470_PrepareDaisyChainCommand(L6470_AppCmdPkg, (uint8_t*)L6470_DaisyChainSpiTxStruct);
+ L6470_DaisyChainCommand((uint8_t*)L6470_DaisyChainSpiTxStruct, (uint8_t*)L6470_DaisyChainSpiRxStruct);
+
+ return (uint8_t*)(L6470_DaisyChainSpiRxStruct);
+}
+
+/**
+ * @brief Send command to the L6470 daisy chain via SPI
+ * @param pL6470_DaisyChainSpiTxStruct Pointer to the matrix array of bytes to be sent to the daisy chain L6470
+ * @param pL6470_DaisyChainSpiRxStruct Pointer to the matrix array of bytes to be received from the daisy chain L6470
+ */
+void L6470::L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct)
+{
+ uint8_t spibyte;
+
+ L6470_DaisyChain_HalfPrepared = ZERO_F;
+
+ /* Send all command bytes via SPI */
+ for(spibyte=0; spibyte < L6470MAXSPICMDBYTESIZE; spibyte++)
+ {
+ /* Send the command via SPI */
+ L6470_SPI_Communication((pL6470_DaisyChainSpiTxStruct+(spibyte * L6470DAISYCHAINSIZE)), (pL6470_DaisyChainSpiRxStruct+(spibyte * L6470DAISYCHAINSIZE)), L6470DAISYCHAINSIZE, 10);
+
+ //_DELAY(TDISCS);
+ uint8_t delay_cnt;
+ for (delay_cnt=0; delay_cnt<20; delay_cnt++) __NOP(); //!<Simply deselect time delay for SPI nCS
+ }
+}
+
+/**
+ * @brief Extracts the data returned by the L6470 from the matrix that
+ * contains the received SPI data.
+ * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
+ * @param pL6470_DaisyChainSpiRxStruct uint8_t-pointer to the matrix that
+ * contains the received data by SPI from the L6470 daisy chain.
+ * @param LengthByte The number of bytes about the received value.
+ */
+uint32_t L6470::L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte)
+{
+ uint32_t value;
+ uint8_t i;
+
+ value = 0x000000;
+ for (i=1; i<=(L6470MAXSPICMDBYTESIZE-1); i++)
+ {
+ value |= (*(pL6470_DaisyChainSpiRxStruct+(i*L6470DAISYCHAINSIZE)+L6470_Id))<<((LengthByte-i)*8);
+ }
+
+ return value;
+}
+
+/**
+ * @brief Check the state of a flag inside the L6470 STATUS register.
+ *
+ * @param L6470_Id The identifier of the L6470 target inside the daisy chain.
+ * @param L6470_StatusRegisterFlagId The identifier of the L6470 STATUS flag to be checked.
+ *
+ * @retval state The flag state.
+ */
+
+uint8_t L6470::L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId)
+{
+ uint8_t state = 0;
+
+ *((uint16_t*)pL6470_StatusRegister) = L6470_GetParam(L6470_STATUS_ID);
+
+ switch(L6470_StatusRegisterFlagId)
+ {
+ case HiZ_ID:
+ state = pL6470_StatusRegister->HiZ;
+ break;
+ case BUSY_ID:
+ state = pL6470_StatusRegister->BUSY;
+ break;
+ case SW_F_ID:
+ state = pL6470_StatusRegister->SW_F;
+ break;
+ case SW_EVN_ID:
+ state = pL6470_StatusRegister->SW_EVN;
+ break;
+ case DIR_ID:
+ state = pL6470_StatusRegister->DIR;
+ break;
+ case MOT_STATUS_ID:
+ state = pL6470_StatusRegister->MOT_STATUS;
+ break;
+ case NOTPERF_CMD_ID:
+ state = pL6470_StatusRegister->NOTPERF_CMD;
+ break;
+ case WRONG_CMD_ID:
+ state = pL6470_StatusRegister->WRONG_CMD;
+ break;
+ case UVLO_ID:
+ state = pL6470_StatusRegister->UVLO;
+ break;
+ case TH_WRN_ID:
+ state = pL6470_StatusRegister->TH_WRN;
+ break;
+ case TH_SD_ID:
+ state = pL6470_StatusRegister->TH_SD;
+ break;
+ case OCD_ID:
+ state = pL6470_StatusRegister->OCD;
+ break;
+ case STEP_LOSS_A_ID:
+ state = pL6470_StatusRegister->STEP_LOSS_A;
+ break;
+ case STEP_LOSS_B_ID:
+ state = pL6470_StatusRegister->STEP_LOSS_B;
+ break;
+ case SCK_MOD_ID:
+ state = pL6470_StatusRegister->SCK_MOD;
+ break;
+ }
+
+ return state;
+}
+
+/**
+ * @brief Return the mnemonic name for the L6470 register.
+ * @param id The identifier of the L6470 register.
+ */
+uint8_t *L6470::L6470_GetRegisterName(uint8_t id)
+{
+ if (id < L6470REGIDSIZE)
+ {
+ return (uint8_t*)L6470_Register[id].Name;
+ }
+ else
+ {
+ return NULL;
+ }
+}
+
+/**
+ * @brief Configures the L6470 registers.
+ * @param init The pointer to the initialization structure.
+ */
+status_t L6470::L6470_Config(void *init)
+{
+ /* Disable the L6470. */
+ L6470_DISABLE();
+
+ /* Enable the L6470. */
+ L6470_ENABLE();
+
+ /* Reset devices. */
+ reset_device();
+
+ /* Reset Status Register flags. */
+ get_status();
+
+ /* Prepare the 'Register' field of StepperMotorDriverHandle */
+ L6470_init_t *MotorParameterData = (L6470_init_t *) init;
+ StepperMotorRegister.ACC = L6470_Step_s2_2_Acc(MotorParameterData->acc);
+ StepperMotorRegister.DEC = L6470_Step_s2_2_Dec(MotorParameterData->dec);
+ StepperMotorRegister.MAX_SPEED = L6470_Step_s_2_MaxSpeed(MotorParameterData->maxspeed);
+ StepperMotorRegister.MIN_SPEED = L6470_Step_s_2_MinSpeed(MotorParameterData->minspeed);
+ StepperMotorRegister.FS_SPD = L6470_Step_s_2_FsSpd(MotorParameterData->fsspd);
+ StepperMotorRegister.KVAL_HOLD = (uint8_t)((float)((float)(MotorParameterData->kvalhold * 256) / (MotorParameterData->motorvoltage)));
+ StepperMotorRegister.KVAL_RUN = (uint8_t)((float)((float)(MotorParameterData->kvalrun * 256) / (MotorParameterData->motorvoltage)));
+ StepperMotorRegister.KVAL_ACC = (uint8_t)((float)((float)(MotorParameterData->kvalacc * 256) / (MotorParameterData->motorvoltage)));
+ StepperMotorRegister.KVAL_DEC = (uint8_t)((float)((float)(MotorParameterData->kvaldec * 256) / (MotorParameterData->motorvoltage)));
+ StepperMotorRegister.INT_SPEED = L6470_Step_s_2_IntSpeed(MotorParameterData->intspeed);
+ StepperMotorRegister.ST_SLP = L6470_s_Step_2_StSlp(MotorParameterData->stslp);
+ StepperMotorRegister.FN_SLP_ACC = L6470_s_Step_2_FnSlpAcc(MotorParameterData->fnslpacc);
+ StepperMotorRegister.FN_SLP_DEC = L6470_s_Step_2_FnSlpDec(MotorParameterData->fnslpdec);
+ StepperMotorRegister.K_THERM = MotorParameterData->kterm;
+ StepperMotorRegister.OCD_TH = L6470_mA_2_OcdTh(MotorParameterData->ocdth);
+ StepperMotorRegister.STALL_TH = L6470_mA_2_StallTh(MotorParameterData->stallth);
+ StepperMotorRegister.ALARM_EN = MotorParameterData->alarmen;
+ StepperMotorRegister.CONFIG = MotorParameterData->config;
+ StepperMotorRegister.STEP_MODE = MotorParameterData->step_sel;
+
+ /* Write the L6470 registers with the prepared data */
+ L6470_SetParam(L6470_ACC_ID, StepperMotorRegister.ACC);
+ L6470_SetParam(L6470_DEC_ID, StepperMotorRegister.DEC);
+ L6470_SetParam(L6470_MAX_SPEED_ID, StepperMotorRegister.MAX_SPEED);
+ L6470_SetParam(L6470_MIN_SPEED_ID, StepperMotorRegister.MIN_SPEED);
+ L6470_SetParam(L6470_FS_SPD_ID, StepperMotorRegister.FS_SPD);
+ L6470_SetParam(L6470_KVAL_HOLD_ID, StepperMotorRegister.KVAL_HOLD);
+ L6470_SetParam(L6470_KVAL_RUN_ID, StepperMotorRegister.KVAL_RUN);
+ L6470_SetParam(L6470_KVAL_ACC_ID, StepperMotorRegister.KVAL_ACC);
+ L6470_SetParam(L6470_KVAL_DEC_ID, StepperMotorRegister.KVAL_DEC);
+ L6470_SetParam(L6470_INT_SPEED_ID, StepperMotorRegister.INT_SPEED);
+ L6470_SetParam(L6470_ST_SLP_ID, StepperMotorRegister.ST_SLP);
+ L6470_SetParam(L6470_FN_SLP_ACC_ID, StepperMotorRegister.FN_SLP_ACC);
+ L6470_SetParam(L6470_FN_SLP_DEC_ID, StepperMotorRegister.FN_SLP_DEC);
+ L6470_SetParam(L6470_K_THERM_ID, StepperMotorRegister.K_THERM);
+ L6470_SetParam(L6470_OCD_TH_ID, StepperMotorRegister.OCD_TH);
+ L6470_SetParam(L6470_STALL_TH_ID, StepperMotorRegister.STALL_TH);
+ L6470_SetParam(L6470_ALARM_EN_ID, StepperMotorRegister.ALARM_EN);
+ L6470_SetParam(L6470_CONFIG_ID, StepperMotorRegister.CONFIG);
+ if (!set_step_mode((StepperMotor::step_mode_t) StepperMotorRegister.STEP_MODE))
+ return COMPONENT_ERROR;
+
+ return COMPONENT_OK;
+}
+
+/* End of L6470_Exported_Functions */
+
+/* End of L6470 */
+
+/* End of Components */
+
+/* End of BSP */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/Components/L6470/L6470.h Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,1584 @@
+/**
+ ******************************************************************************
+ * @file L6470.h
+ * @author Davide Aliprandi, STMicroelectronics
+ * @version V1.0.0
+ * @date November 12th, 2015
+ * @brief This file contains the class of an L6470 Motor Control component.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Generated with STM32CubeTOO -----------------------------------------------*/
+
+
+/* Revision ------------------------------------------------------------------*/
+/*
+ Repository: http://svn.x-nucleodev.codex.cro.st.com/svnroot/X-NucleoDev
+ Branch/Trunk/Tag: trunk
+ Based on: X-CUBE-SPN2/trunk/Drivers/BSP/Components/L6470/L6470.h
+ Revision: 0
+*/
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6470_CLASS_H
+#define __L6470_CLASS_H
+
+
+/* Includes ------------------------------------------------------------------*/
+
+/* ACTION 1 ------------------------------------------------------------------*
+ * Include here platform specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "mbed.h"
+#include "DevSPI.h"
+/* ACTION 2 ------------------------------------------------------------------*
+ * Include here component specific header files. *
+ *----------------------------------------------------------------------------*/
+#include "L6470_def.h"
+/* ACTION 3 ------------------------------------------------------------------*
+ * Include here interface specific header files. *
+ * *
+ * Example: *
+ * #include "HumiditySensor.h" *
+ * #include "TemperatureSensor.h" *
+ *----------------------------------------------------------------------------*/
+#include "StepperMotor.h"
+
+
+/* Classes -------------------------------------------------------------------*/
+
+/**
+ * @brief Class representing a L6470 component.
+ */
+class L6470 : public StepperMotor
+{
+public:
+
+ /*** Public Component Related Types ***/
+
+ /**
+ * @brief Prepared Actions.
+ */
+ typedef enum
+ {
+ PREPARED_NO_ACTION = 0,
+ PREPARED_GET_POSITION,
+ PREPARED_GET_MARK,
+ PREPARED_GET_SPEED,
+ PREPARED_GET_MAX_SPEED,
+ PREPARED_GET_MIN_SPEED,
+ PREPARED_GET_ACCELERATION,
+ PREPARED_GET_DECELERATION,
+ PREPARED_GET_DIRECTION,
+ PREPARED_SET_MARK
+ } prepared_action_t;
+
+
+ /*** Constructor and Destructor Methods ***/
+
+ /**
+ * @brief Constructor.
+ * @param flag_irq pin name of the FLAG pin of the component.
+ * @param busy_irq pin name of the BUSY pin of the component.
+ * @param standby_reset pin name of the STBY\RST pin of the component.
+ * @param ssel pin name of the SSEL pin of the SPI device to be used for communication.
+ * @param spi SPI device to be used for communication.
+ */
+ L6470(PinName flag_irq, PinName busy_irq, PinName standby_reset, PinName ssel, DevSPI &spi) : StepperMotor(), flag_irq(flag_irq), busy_irq(busy_irq), standby_reset(standby_reset), ssel(ssel), dev_spi(spi)
+ {
+ /* ACTION 4 ----------------------------------------------------------*
+ * Initialize here the component's member variables, one variable per *
+ * line. *
+ * *
+ * Example: *
+ * measure = 0; *
+ * instance_id = number_of_instances++; *
+ *--------------------------------------------------------------------*/
+ L6470_Register = &_L6470_Register[0];
+ L6470_ApplicationCommand = &_L6470_ApplicationCommand[0];
+ L6470_Direction = &_L6470_Direction[0];
+ L6470_ACT = &_L6470_ACT[0];
+ pL6470_StatusRegister = &L6470_StatusRegister;
+ prepared_action = PREPARED_NO_ACTION;
+ L6470_Id = number_of_devices++;
+ L6470_DaisyChain_HalfPrepared = ZERO_F;
+ memset(L6470_AppCmdPkg, 0, L6470DAISYCHAINSIZE * sizeof(sL6470_AppCmdPkg_t));
+ memset(L6470_DaisyChainSpiTxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
+ memset(L6470_DaisyChainSpiRxStruct, 0, L6470MAXSPICMDBYTESIZE * L6470DAISYCHAINSIZE * sizeof(uint8_t));
+ }
+
+ /**
+ * @brief Destructor.
+ */
+ virtual ~L6470(void) {}
+
+
+ /*** Public Component Related Methods ***/
+
+ /* ACTION 5 --------------------------------------------------------------*
+ * Implement here the component's public methods, as wrappers of the C *
+ * component's functions. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2). *
+ * *
+ * Example: *
+ * virtual int get_value(float *p_data) //(1) *
+ * { *
+ * return COMPONENT_get_value(float *pf_data); *
+ * } *
+ * *
+ * virtual int enable_feature(void) //(2) *
+ * { *
+ * return COMPONENT_enable_feature(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Initializing the component.
+ * @param init Pointer to device specific initalization structure.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int init(void *init)
+ {
+ return (int) L6470_Config((void *) init);
+ }
+
+ /**
+ * @brief Getting the ID of the component.
+ * @param id Pointer to an allocated variable to store the ID into.
+ * @retval "0" in case of success, an error code otherwise.
+ */
+ virtual int read_id(uint8_t *id)
+ {
+ return (int) 0;
+ }
+
+ /**
+ * @brief Getting the status.
+ * @param None.
+ * @retval The status.
+ */
+ virtual unsigned int get_status(void)
+ {
+ return (unsigned int) L6470_GetStatus();
+ }
+
+ /**
+ * @brief Getting a parameter.
+ * @param parameter A parameter's register address.
+ * @retval The parameter's value.
+ * @note The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ */
+ virtual unsigned int get_parameter(unsigned int parameter)
+ {
+ return (unsigned int) L6470_GetParam((eL6470_RegId_t) parameter);
+ }
+
+ /**
+ * @brief Getting the position.
+ * @param None.
+ * @retval The position.
+ */
+ virtual signed int get_position(void)
+ {
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
+ }
+
+ /**
+ * @brief Getting the marked position.
+ * @param None.
+ * @retval The marked position.
+ */
+ virtual signed int get_mark(void)
+ {
+ return (signed int) L6470_AbsPos_2_Position((uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_MARK_ID));
+ }
+
+ /**
+ * @brief Getting the current speed in pps.
+ * @param None.
+ * @retval The current speed in pps.
+ */
+ virtual unsigned int get_speed(void)
+ {
+ return round(L6470_Speed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_SPEED_ID)));
+ }
+
+ /**
+ * @brief Getting the maximum speed in pps.
+ * @param None.
+ * @retval The maximum speed in pps.
+ */
+ virtual unsigned int get_max_speed(void)
+ {
+ return round(L6470_MaxSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID)));
+ }
+
+ /**
+ * @brief Getting the minimum speed in pps.
+ * @param None.
+ * @retval The minimum speed in pps.
+ */
+ virtual unsigned int get_min_speed(void)
+ {
+ return round(L6470_MinSpeed_2_Step_s((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID)));
+ }
+
+ /**
+ * @brief Getting the acceleration in pps^2.
+ * @param None.
+ * @retval The acceleration in pps^2.
+ */
+ virtual unsigned int get_acceleration(void)
+ {
+ return round(L6470_Acc_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_ACC_ID)));
+ }
+
+ /**
+ * @brief Getting the deceleration in pps^2.
+ * @param None.
+ * @retval The deceleration in pps^2.
+ */
+ virtual unsigned int get_deceleration(void)
+ {
+ return round(L6470_Dec_2_Step_s2((unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_DEC_ID)));
+ }
+
+ /**
+ * @brief Getting the direction of rotation.
+ * @param None.
+ * @retval The direction of rotation.
+ */
+ virtual direction_t get_direction(void)
+ {
+ return (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+ }
+
+ /**
+ * @brief Setting a parameter.
+ * @param parameter A parameter's register address.
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+ * Any attempt to write one of those registers when the conditions are not satisfied
+ * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+ * last argument byte. Any attempt to set an inexistent register (wrong address value)
+ * causes the command to be ignored and the WRONG_CMD flag to rise.
+ * For example, setting some parameters requires first to disable the power bridge;
+ * this can be done through the soft_hiz() method.
+ * They are the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ */
+ virtual void set_parameter(unsigned int parameter, unsigned int value)
+ {
+ L6470_SetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+ }
+
+ /**
+ * @brief Setting the current position to be the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_home(void)
+ {
+ L6470_ResetPos();
+ }
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void set_mark(void)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_GetParam((eL6470_RegId_t) L6470_ABS_POS_ID));
+ }
+
+ /**
+ * @brief Setting the current position to be the marked position.
+ * @param position The given position.
+ * @retval None.
+ */
+ virtual void set_mark(signed int position)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ }
+
+ /**
+ * @brief Setting the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_max_speed(unsigned int speed)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+ return true;
+ }
+
+ /**
+ * @brief Setting the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_min_speed(unsigned int speed)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+ return true;
+ }
+
+ /**
+ * @brief Setting the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_acceleration(unsigned int acceleration)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+ return true;
+ }
+
+ /**
+ * @brief Setting the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval "true" in case of success, "false" otherwise.
+ */
+ virtual bool set_deceleration(unsigned int deceleration)
+ {
+ L6470_SetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+ return true;
+ }
+
+ /**
+ * @brief Setting the Step Mode.
+ * @param step_mode The Step Mode.
+ * @retval "true" in case of success, "false" otherwise.
+ * @warning Setting the step mode implies first disabling the power bridge through
+ * the soft_hiz() method.
+ * @warning Every time step mode is changed, the values of the home
+ * and mark positions lose meaning and are reset.
+ */
+ virtual bool set_step_mode(step_mode_t step_mode)
+ {
+ if ((eMotorStepMode_t) step_mode > MICROSTEP_1_128) {
+ return false;
+ }
+ soft_hiz();
+ L6470_SetParam((eL6470_RegId_t) L6470_STEP_MODE_ID, (eMotorStepMode_t) step_mode);
+ return true;
+ }
+
+ /**
+ * @brief Going to a specified position through the shortest path.
+ * @param position The desired position.
+ * @retval None.
+ */
+ virtual void go_to(signed int position)
+ {
+ L6470_GoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ }
+
+ /**
+ * @brief Going to a specified position imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void go_to(signed int position, direction_t direction)
+ {
+ L6470_GoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ }
+
+ /**
+ * @brief Going to the home position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_home(void)
+ {
+ L6470_GoHome();
+ }
+
+ /**
+ * @brief Going to the marked position.
+ * @param None.
+ * @retval None.
+ */
+ virtual void go_mark(void)
+ {
+ L6470_GoMark();
+ }
+
+ /**
+ * @brief Running at the given speed imposing the desired direction until
+ * an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void go_until(eL6470_ActId_t action, direction_t direction, unsigned int speed)
+ {
+ L6470_GoUntil((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ }
+
+ /**
+ * @brief Running towards a specified direction.
+ * @param direction The direction of rotation.
+ * @retval None.
+ */
+ virtual void run(direction_t direction)
+ {
+ L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+ }
+
+ /**
+ * @brief Running towards a specified direction at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ */
+ virtual void run(direction_t direction, unsigned int speed)
+ {
+ L6470_Run((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ }
+
+ /**
+ * @brief Moving towards a specified direction for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ */
+ virtual void move(direction_t direction, unsigned int steps)
+ {
+ L6470_Move((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate deceleration up to zero speed.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_stop(void)
+ {
+ L6470_SoftStop();
+ }
+
+ /**
+ * @brief Stopping the motor through an immediate infinite deceleration.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_stop(void)
+ {
+ L6470_HardStop();
+ }
+
+ /**
+ * @brief Disabling the power bridge after performing a deceleration to zero.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ */
+ virtual void soft_hiz(void)
+ {
+ L6470_SoftHiZ();
+ }
+
+ /**
+ * @brief Disabling the power bridge immediately.
+ * @param None.
+ * @retval None.
+ */
+ virtual void hard_hiz(void)
+ {
+ L6470_HardHiZ();
+ }
+
+ /**
+ * @brief Waiting while the motor is active.
+ * @param None.
+ * @retval None.
+ */
+ virtual void wait_while_active(void)
+ {
+ while (L6470_CheckStatusRegisterFlag(BUSY_ID) == 0);
+ }
+
+ /**
+ * @brief Switching to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @warning Setting the step-clock mode implies first disabling the power bridge through
+ * the soft_hiz() method.
+ */
+ virtual void step_clock(direction_t direction)
+ {
+ soft_hiz();
+ L6470_StepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ }
+
+ /**
+ * @brief Doing a motion at minimum speed imposing a specified direction
+ * until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The direction of rotation.
+ * @note The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void release_sw(eL6470_ActId_t action, direction_t direction)
+ {
+ L6470_ReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ }
+
+ /**
+ * @brief Resetting the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ */
+ virtual void reset_device(void)
+ {
+ L6470_ResetDevice();
+ }
+
+ /**
+ * @brief Preparing the command to get the status.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_status(void)
+ {
+ L6470_PrepareGetStatus();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to get a parameter.
+ * @param parameter A parameter's register address.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ * The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ */
+ virtual void prepare_get_parameter(unsigned int parameter)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) parameter);
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to get the position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_position(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_ABS_POS_ID);
+ prepared_action = PREPARED_GET_POSITION;
+ }
+
+ /**
+ * @brief Preparing the command to get the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_mark(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_MARK_ID);
+ prepared_action = PREPARED_GET_MARK;
+ }
+
+ /**
+ * @brief Preparing the command to get the current speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_speed(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_SPEED_ID);
+ prepared_action = PREPARED_GET_SPEED;
+ }
+
+ /**
+ * @brief Preparing the command to get the maximum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_max_speed(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID);
+ prepared_action = PREPARED_GET_MAX_SPEED;
+ }
+
+ /**
+ * @brief Preparing the command to get the minimum speed in pps.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_min_speed(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID);
+ prepared_action = PREPARED_GET_MIN_SPEED;
+ }
+
+ /**
+ * @brief Preparing the command to get the acceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_acceleration(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_ACC_ID);
+ prepared_action = PREPARED_GET_ACCELERATION;
+ }
+
+ /**
+ * @brief Preparing the command to get the deceleration in pps^2.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_deceleration(void)
+ {
+ L6470_PrepareGetParam((eL6470_RegId_t) L6470_DEC_ID);
+ prepared_action = PREPARED_GET_DECELERATION;
+ }
+
+ /**
+ * @brief Preparing the command to get the direction of rotation.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_get_direction(void)
+ {
+ if (!L6470_DaisyChain_HalfPrepared) {
+ /* To avoid deleting the previous entered command. */
+ L6470_DaisyChain_HalfPrepared = ONE_F;
+ /* Resetting commands. */
+ L6470_ResetAppCmdPkg(L6470_AppCmdPkg);
+ }
+ prepared_action = PREPARED_GET_DIRECTION;
+ }
+
+ /**
+ * @brief Preparing the command to set a parameter.
+ * @param parameter A parameter's register address.
+ * @param value The parameter's value.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ * The parameter can be one of the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_MARK_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_FS_SPD_ID
+ * + L6470_KVAL_HOLD_ID
+ * + L6470_KVAL_RUN_ID
+ * + L6470_KVAL_ACC_ID
+ * + L6470_KVAL_DEC_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_K_THERM_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_OCD_TH_ID
+ * + L6470_STALL_TH_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_ALARM_EN_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ * @warning Some registers can only be written in particular conditions (see L6470's datasheet).
+ * Any attempt to write one of those registers when the conditions are not satisfied
+ * causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of the
+ * last argument byte. Any attempt to set an inexistent register (wrong address value)
+ * causes the command to be ignored and the WRONG_CMD flag to rise.
+ * For example, setting some parameters requires first to disable the power bridge;
+ * this can be done through the soft_hiz() method.
+ * They are the following:
+ * + L6470_ABS_POS_ID
+ * + L6470_EL_POS_ID
+ * + L6470_SPEED_ID
+ * + L6470_ACC_ID
+ * + L6470_DEC_ID
+ * + L6470_MAX_SPEED_ID
+ * + L6470_MIN_SPEED_ID
+ * + L6470_INT_SPEED_ID
+ * + L6470_ST_SLP_ID
+ * + L6470_FN_SLP_ACC_ID
+ * + L6470_FN_SLP_DEC_ID
+ * + L6470_ADC_OUT_ID
+ * + L6470_STEP_MODE_ID
+ * + L6470_CONFIG_ID
+ * + L6470_STATUS_ID
+ */
+ virtual void prepare_set_parameter(unsigned int parameter, unsigned int value)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) parameter, (uint32_t) value);
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_home(void)
+ {
+ L6470_PrepareResetPos();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the current position to be
+ * the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_mark(void)
+ {
+ /*
+ Set "0" now as marked position. This value will be replaced by the
+ actual position read at the time when the prepared actions will be
+ performed.
+ */
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, 0);
+ prepared_action = PREPARED_SET_MARK;
+ }
+
+ /**
+ * @brief Preparing the command to set the given position to be
+ * the marked position.
+ * @param position The given position.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_mark(signed int position)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MARK_ID, (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the current speed in pps.
+ * @param speed The current speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_speed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_SPEED_ID, (uint32_t) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the maximum speed in pps.
+ * @param speed The maximum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_max_speed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID, (uint32_t) L6470_Step_s_2_MaxSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the minimum speed in pps.
+ * @param speed The minimum speed in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_min_speed(unsigned int speed)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_MIN_SPEED_ID, (uint32_t) L6470_Step_s_2_MinSpeed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the acceleration in pps^2.
+ * @param acceleration The acceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_acceleration(unsigned int acceleration)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_ACC_ID, (uint32_t) L6470_Step_s2_2_Acc((float) acceleration));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to set the deceleration in pps^2.
+ * @param deceleration The deceleration in pps^2.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_set_deceleration(unsigned int deceleration)
+ {
+ L6470_PrepareSetParam((eL6470_RegId_t) L6470_DEC_ID, (uint32_t) L6470_Step_s2_2_Dec((float) deceleration));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to a specified position.
+ * @param position The desired position.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_go_to(signed int position)
+ {
+ L6470_PrepareGoTo((uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to a specified position
+ * imposing the desired direction.
+ * @param position The desired position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_go_to(signed int position, direction_t direction)
+ {
+ L6470_PrepareGoToDir((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (uint32_t) L6470_Position_2_AbsPos((int32_t) position));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to the home position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_go_home(void)
+ {
+ L6470_PrepareGoHome();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to go to the marked position.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_go_mark(void)
+ {
+ L6470_PrepareGoMark();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to run at the given speed imposing the desired
+ * direction until an external switch turn-on event occurs.
+ * @param action The identifier of the action about the absolute position.
+ * @param position The desired position.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ * The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void prepare_go_until(eL6470_ActId_t L6470_ActId, direction_t direction, unsigned int speed)
+ {
+ L6470_PrepareGoUntil((eL6470_ActId_t) L6470_ActId, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the maximum speed.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_run(direction_t direction)
+ {
+ L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_GetParam((eL6470_RegId_t) L6470_MAX_SPEED_ID));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to run towards a specified direction
+ * at the given speed.
+ * @param direction The direction of rotation.
+ * @param speed The speed value in pps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_run(direction_t direction, unsigned int speed)
+ {
+ L6470_PrepareRun((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) L6470_Step_s_2_Speed((float) speed));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to move towards a specified direction
+ * for a certain number of steps.
+ * @param direction The direction of rotation.
+ * @param steps The desired number of steps.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_move(direction_t direction, unsigned int steps)
+ {
+ L6470_PrepareMove((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID), (unsigned int) steps);
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to stop the motor.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_soft_stop(void)
+ {
+ L6470_PrepareSoftStop();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to stop the motor and disabling the power bridge.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_hard_stop(void)
+ {
+ L6470_PrepareHardStop();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to disable the power bridge after performing
+ * a deceleration to zero.
+ * The used deceleration value is the one stored in the "DEC" register.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_soft_hiz(void)
+ {
+ L6470_PrepareSoftHiZ();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to disable the power bridge immediately.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_hard_hiz(void)
+ {
+ L6470_PrepareHardHiZ();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to switch to step-clock mode.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @warning Setting the step-clock mode requires an explicit action by the user to first
+ * disable the power bridge through the soft_hiz() method.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_step_clock(direction_t direction)
+ {
+ L6470_PrepareStepClock((eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to do a motion at minimum speed
+ * imposing a specified direction until the SW is released.
+ * @param action The identifier of the action about the absolute position.
+ * @param direction The direction of rotation.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ * The identifier of the action about the absolute position can be
+ * one of the following:
+ * + L6470_ACT_RST_ID: the absolute position is reset;
+ * + L6470_ACT_CPY_ID: the absolute position is set as the marked position.
+ */
+ virtual void prepare_release_sw(eL6470_ActId_t action, direction_t direction)
+ {
+ L6470_PrepareReleaseSW((eL6470_ActId_t) action, (eL6470_DirId_t) (direction == StepperMotor::FWD ? L6470_DIR_FWD_ID : L6470_DIR_REV_ID));
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Preparing the command to reset the device to power-up conditions.
+ * @param None.
+ * @retval None.
+ * @note The command will be sent by issuing "perform_action()".
+ */
+ virtual void prepare_reset_device(void)
+ {
+ L6470_PrepareResetDevice();
+ prepared_action = PREPARED_NO_ACTION;
+ }
+
+ /**
+ * @brief Performing all the actions prepared on the components
+ * of the daisy-chain.
+ * @param None.
+ * @retval The raw data returned by the components.
+ */
+ uint8_t* perform_prepared_actions(void)
+ {
+ return L6470_PerformPreparedApplicationCommand();
+ }
+
+ /**
+ * @brief Getting the prepared action.
+ * @param None
+ * @retval The prepared action.
+ */
+ prepared_action_t get_prepared_action(void)
+ {
+ return prepared_action;
+ }
+
+ /**
+ * @brief Converting the raw data received by the component according to
+ * the action performed on it.
+ * @param raw_data The received raw data.
+ * @retval The result of the action performed.
+ */
+ int32_t get_result(uint8_t *raw_data)
+ {
+ switch (prepared_action) {
+ case PREPARED_GET_POSITION:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ABS_POS_ID].LengthByte));
+
+ case PREPARED_GET_MARK:
+ return L6470_AbsPos_2_Position(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MARK_ID].LengthByte));
+
+ case PREPARED_GET_SPEED:
+ return round(L6470_Speed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MAX_SPEED:
+ return round(L6470_MaxSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MAX_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_MIN_SPEED:
+ return round(L6470_MinSpeed_2_Step_s(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_MIN_SPEED_ID].LengthByte)));
+
+ case PREPARED_GET_ACCELERATION:
+ return round(L6470_Acc_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_ACC_ID].LengthByte)));
+
+ case PREPARED_GET_DECELERATION:
+ return round(L6470_Dec_2_Step_s2(L6470_ExtractReturnedData(raw_data, L6470_Register[L6470_DEC_ID].LengthByte)));
+
+ case PREPARED_GET_DIRECTION:
+ return (int32_t) (direction_t) (L6470_CheckStatusRegisterFlag((eL6470_StatusRegisterFlagId_t) DIR_ID) == 1 ? StepperMotor::FWD : StepperMotor::BWD);
+
+ default:
+ case PREPARED_NO_ACTION:
+ return 0;
+ }
+ }
+
+
+ /*** Public Interrupt Related Methods ***/
+
+ /* ACTION 6 --------------------------------------------------------------*
+ * Implement here interrupt related methods, if any. *
+ * Note that interrupt handling is platform dependent, e.g.: *
+ * + mbed: *
+ * InterruptIn feature_irq(pin); //Interrupt object. *
+ * feature_irq.rise(callback); //Attach a callback. *
+ * feature_irq.mode(PullNone); //Set interrupt mode. *
+ * feature_irq.enable_irq(); //Enable interrupt. *
+ * feature_irq.disable_irq(); //Disable interrupt. *
+ * + Arduino: *
+ * attachInterrupt(pin, callback, RISING); //Attach a callback. *
+ * detachInterrupt(pin); //Detach a callback. *
+ * *
+ * Example (mbed): *
+ * void attach_feature_irq(void (*fptr) (void)) *
+ * { *
+ * feature_irq.rise(fptr); *
+ * } *
+ * *
+ * void enable_feature_irq(void) *
+ * { *
+ * feature_irq.enable_irq(); *
+ * } *
+ * *
+ * void disable_feature_irq(void) *
+ * { *
+ * feature_irq.disable_irq(); *
+ * } *
+ *------------------------------------------------------------------------*/
+ /**
+ * @brief Attaching an interrupt handler to the FLAG interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_flag_irq(void (*fptr)(void))
+ {
+ flag_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_flag_irq(void)
+ {
+ flag_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the FLAG interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_flag_irq(void)
+ {
+ flag_irq.disable_irq();
+ }
+
+ /**
+ * @brief Attaching an interrupt handler to the BUSY interrupt.
+ * @param fptr An interrupt handler.
+ * @retval None.
+ */
+ void attach_busy_irq(void (*fptr)(void))
+ {
+ busy_irq.fall(fptr);
+ }
+
+ /**
+ * @brief Enabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void enable_busy_irq(void)
+ {
+ busy_irq.enable_irq();
+ }
+
+ /**
+ * @brief Disabling the BUSY interrupt handling.
+ * @param None.
+ * @retval None.
+ */
+ void disable_busy_irq(void)
+ {
+ busy_irq.disable_irq();
+ }
+
+
+protected:
+
+ /*** Protected Component Related Methods ***/
+
+ /* ACTION 7 --------------------------------------------------------------*
+ * Declare here the component's specific methods. *
+ * They should be: *
+ * + Methods with the same name of the C component's virtual table's *
+ * functions (1); *
+ * + Methods with the same name of the C component's extended virtual *
+ * table's functions, if any (2); *
+ * + Helper methods, if any, like functions declared in the component's *
+ * source files but not pointed by the component's virtual table (3). *
+ * *
+ * Example: *
+ * status_t COMPONENT_get_value(float *f); //(1) *
+ * status_t COMPONENT_enable_feature(void); //(2) *
+ * status_t COMPONENT_compute_average(void); //(3) *
+ *------------------------------------------------------------------------*/
+ int32_t L6470_AbsPos_2_Position(uint32_t AbsPos);
+ uint32_t L6470_Position_2_AbsPos(int32_t Position);
+ float L6470_Speed_2_Step_s(uint32_t Speed);
+ uint32_t L6470_Step_s_2_Speed(float Step_s);
+ float L6470_Acc_2_Step_s2(uint16_t Acc);
+ uint16_t L6470_Step_s2_2_Acc(float Step_s2);
+ float L6470_Dec_2_Step_s2(uint16_t Dec);
+ uint16_t L6470_Step_s2_2_Dec(float Step_s2);
+ float L6470_MaxSpeed_2_Step_s(uint16_t MaxSpeed);
+ uint16_t L6470_Step_s_2_MaxSpeed(float Step_s);
+ float L6470_MinSpeed_2_Step_s(uint16_t MinSpeed);
+ uint16_t L6470_Step_s_2_MinSpeed(float Step_s);
+ float L6470_FsSpd_2_Step_s(uint16_t FsSpd);
+ uint16_t L6470_Step_s_2_FsSpd(float Step_s);
+ float L6470_IntSpeed_2_Step_s(uint16_t IntSpeed);
+ uint16_t L6470_Step_s_2_IntSpeed(float Step_s);
+ float L6470_StSlp_2_s_Step(uint8_t StSlp);
+ uint8_t L6470_s_Step_2_StSlp(float s_Step);
+ float L6470_FnSlpAcc_2_s_Step(uint8_t FnSlpAcc);
+ uint8_t L6470_s_Step_2_FnSlpAcc(float s_Step);
+ float L6470_FnSlpDec_2_s_Step(uint8_t FnSlpDec);
+ uint8_t L6470_s_Step_2_FnSlpDec(float s_Step);
+ float L6470_OcdTh_2_mA(uint8_t OcdTh);
+ uint8_t L6470_mA_2_OcdTh(float mA);
+ float L6470_StallTh_2_mA(uint8_t StallTh);
+ uint8_t L6470_mA_2_StallTh(float mA);
+ status_t L6470_Config(void *init);
+ void L6470_SetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
+ uint32_t L6470_GetParam(eL6470_RegId_t L6470_RegId);
+ void L6470_Run(eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void L6470_StepClock(eL6470_DirId_t L6470_DirId);
+ void L6470_Move(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+ void L6470_GoTo(uint32_t AbsPos);
+ void L6470_GoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+ void L6470_GoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void L6470_ReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+ void L6470_GoHome(void);
+ void L6470_GoMark(void);
+ void L6470_ResetPos(void);
+ void L6470_ResetDevice(void);
+ void L6470_SoftStop(void);
+ void L6470_HardStop(void);
+ void L6470_SoftHiZ(void);
+ void L6470_HardHiZ(void);
+ uint16_t L6470_GetStatus(void);
+ void L6470_PrepareSetParam(eL6470_RegId_t L6470_RegId, uint32_t Value);
+ void L6470_PrepareGetParam(eL6470_RegId_t L6470_RegId);
+ void L6470_PrepareRun(eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void L6470_PrepareStepClock(eL6470_DirId_t L6470_DirId);
+ void L6470_PrepareMove(eL6470_DirId_t L6470_DirId, uint32_t N_Step);
+ void L6470_PrepareGoTo(uint32_t AbsPos);
+ void L6470_PrepareGoToDir(eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
+ void L6470_PrepareGoUntil(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
+ void L6470_PrepareReleaseSW(eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
+ void L6470_PrepareGoHome(void);
+ void L6470_PrepareGoMark(void);
+ void L6470_PrepareResetPos(void);
+ void L6470_PrepareResetDevice(void);
+ void L6470_PrepareSoftStop(void);
+ void L6470_PrepareHardStop(void);
+ void L6470_PrepareSoftHiZ(void);
+ void L6470_PrepareHardHiZ(void);
+ void L6470_PrepareGetStatus(void);
+ uint8_t* L6470_PerformPreparedApplicationCommand(void);
+ void L6470_DaisyChainCommand(uint8_t* pL6470_DaisyChainSpiTxStruct, uint8_t* pL6470_DaisyChainSpiRxStruct);
+ uint32_t L6470_ExtractReturnedData(uint8_t* pL6470_DaisyChainSpiRxStruct, uint8_t LengthByte);
+ uint8_t L6470_CheckStatusRegisterFlag(uint8_t L6470_StatusRegisterFlagId);
+ uint8_t* L6470_GetRegisterName(uint8_t id);
+ void L6470_ResetAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg);
+ void L6470_FillAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
+ void L6470_PrepareAppCmdPkg(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, eL6470_AppCmdId_t L6470_AppCmdId, uint32_t p1, uint32_t p2, uint32_t p3);
+ void L6470_PrepareDaisyChainCommand(sL6470_AppCmdPkg_t* pL6470_AppCmdPkg, uint8_t* pL6470_DaisyChainSpiTxStruct);
+
+ /**
+ * @brief Rounding a floating point number to the nearest unsigned integer number.
+ * @param f The floating point number.
+ * @retval The nearest unsigned integer number.
+ */
+ int round(float f)
+ {
+ if (f >= 0) {
+ return (int) f + (f - (int) f < 0.5f ? 0 : 1);
+ } else {
+ return (int) f - (f - (int) f < -0.5f ? 1 : 0);
+ }
+ }
+
+
+ /*** Component's I/O Methods ***/
+
+ /**
+ * @brief Utility function to read data from L6470.
+ * @param[out] pBuffer pointer to the buffer to read data into.
+ * @param[in] NumBytesToRead number of bytes to read.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Read(uint8_t* pBuffer, uint16_t NumBytesToRead)
+ {
+ if (dev_spi.spi_read(pBuffer, ssel, NumBytesToRead) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to write data to L6470.
+ * @param[in] pBuffer pointer to the buffer of data to send.
+ * @param[in] NumBytesToWrite number of bytes to write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t Write(uint8_t* pBuffer, uint16_t NumBytesToWrite)
+ {
+ if (dev_spi.spi_write(pBuffer, ssel, NumBytesToWrite) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
+
+ /**
+ * @brief Utility function to read and write data from/to L6470 at the same time.
+ * @param[out] pBufferToRead pointer to the buffer to read data into.
+ * @param[in] pBufferToWrite pointer to the buffer of data to send.
+ * @param[in] NumBytes number of bytes to read and write.
+ * @retval COMPONENT_OK in case of success, COMPONENT_ERROR otherwise.
+ */
+ status_t ReadWrite(uint8_t* pBufferToRead, uint8_t* pBufferToWrite, uint16_t NumBytes)
+ {
+ if (dev_spi.spi_read_write(pBufferToRead, pBufferToWrite, ssel, NumBytes) != 0) {
+ return COMPONENT_ERROR;
+ }
+ return COMPONENT_OK;
+ }
+
+ /* ACTION 8 --------------------------------------------------------------*
+ * Implement here other I/O methods beyond those already implemented *
+ * above, which are declared extern within the component's header file. *
+ *------------------------------------------------------------------------*/
+ /*
+ * Puts the device in standby mode.
+ */
+ void L6470_ENABLE(void)
+ {
+ standby_reset = 1;
+ }
+
+ /*
+ * Puts the device in reset mode.
+ */
+ void L6470_DISABLE(void)
+ {
+ standby_reset = 0;
+ }
+
+ /*
+ * Write and read bytes to/from the component through the SPI at the same time.
+ */
+ void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout)
+ {
+ ReadWrite(pRxData, pTxData, Size);
+ }
+
+
+ /*** Component's Instance Variables ***/
+
+ /* ACTION 9 --------------------------------------------------------------*
+ * Declare here interrupt related variables, if needed. *
+ * Note that interrupt handling is platform dependent, see *
+ * "Interrupt Related Methods" above. *
+ * *
+ * Example: *
+ * + mbed: *
+ * InterruptIn feature_irq; *
+ *------------------------------------------------------------------------*/
+ /* Flag Interrupt. */
+ InterruptIn flag_irq;
+
+ /* Busy Interrupt. */
+ InterruptIn busy_irq;
+
+ /* ACTION 10 -------------------------------------------------------------*
+ * Declare here other pin related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut standby_reset; *
+ *------------------------------------------------------------------------*/
+ /* Standby/reset pin. */
+ DigitalOut standby_reset;
+
+ /* ACTION 11 -------------------------------------------------------------*
+ * Declare here communication related variables, if needed. *
+ * *
+ * Example: *
+ * + mbed: *
+ * DigitalOut ssel; *
+ * DevSPI &dev_spi; *
+ *------------------------------------------------------------------------*/
+ /* Configuration. */
+ DigitalOut ssel;
+
+ /* IO Device. */
+ DevSPI &dev_spi;
+
+ /* ACTION 12 -------------------------------------------------------------*
+ * Declare here identity related variables, if needed. *
+ * Note that there should be only a unique identifier for each component, *
+ * which should be the "who_am_i" parameter. *
+ *------------------------------------------------------------------------*/
+ /* Identity */
+ uint8_t who_am_i;
+
+ /* ACTION 13 -------------------------------------------------------------*
+ * Declare here the component's static and non-static data, one variable *
+ * per line. *
+ * *
+ * Example: *
+ * float measure; *
+ * int instance_id; *
+ * static int number_of_instances; *
+ *------------------------------------------------------------------------*/
+ /* Data. */
+ uint8_t L6470_Id;
+ const sL6470_Register_t *L6470_Register;
+ const sL6470_ApplicationCommand_t *L6470_ApplicationCommand;
+ const sL6470_Direction_t *L6470_Direction;
+ const sL6470_ACT_t *L6470_ACT;
+ sL6470_StatusRegister_t L6470_StatusRegister;
+ sL6470_StatusRegister_t *pL6470_StatusRegister;
+ StepperMotorRegister_t StepperMotorRegister;
+ prepared_action_t prepared_action;
+
+ /* Static data. */
+ static uint8_t number_of_devices;
+ static const sL6470_Register_t _L6470_Register[L6470REGIDSIZE];
+ static const sL6470_ApplicationCommand_t _L6470_ApplicationCommand[L6470APPCMDIDSIZE];
+ static const sL6470_Direction_t _L6470_Direction[L6470DIRIDSIZE];
+ static const sL6470_ACT_t _L6470_ACT[L6470ACTIDSIZE];
+ static eFlagStatus_t L6470_DaisyChain_HalfPrepared;
+ static sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE];
+ static uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+ static uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE];
+};
+
+#endif /* __L6470_CLASS_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/X_NUCLEO_IHM02A1/Components/L6470/L6470_def.h Thu Dec 17 14:58:10 2020 +0000
@@ -0,0 +1,315 @@
+/**
+ ******************************************************************************
+ * @file L6470_def.h
+ * @date 01/10/2014 12:00:00
+ * @brief This file contains definitions, exported variables and function
+ * prototypes related to the L6470.
+ ******************************************************************************
+ *
+ * COPYRIGHT(c) 2014 STMicroelectronics
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ * 3. Neither the name of STMicroelectronics nor the names of its contributors
+ * may be used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+ * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+ * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ ******************************************************************************
+ */
+
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+
+#ifndef __L6470_H
+#define __L6470_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "../Common/microstepping_motor_def.h"
+
+
+/* Definitions ---------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Exported_Defines L6470_Exported_Defines
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Exported_Constants
+ * @brief L6470 Exported Constants.
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Register_Max_Values
+ * @brief Maximum values for L6470 registers.
+ * @{
+ */
+
+#define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
+#define L6470_MIN_POSITION (-(0x200000)) //!< Min position
+#define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
+#define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
+#define L6470_MAX_ACC (0xFFF) //!< max value of ACC
+#define L6470_MAX_DEC (0xFFF) //!< max value of DEC
+#define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
+#define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
+#define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
+#define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
+#define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
+#define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
+#define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
+#define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
+#define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
+
+/**
+ * @}
+ */ /* End of L6470_Register_Max_Values */
+
+#define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
+#define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
+#define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
+#define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
+#define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
+#define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
+
+#define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
+#define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+#define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
+
+#define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
+#define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
+
+#define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
+#define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
+#define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
+#define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
+#define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
+
+
+/* Types ---------------------------------------------------------------------*/
+
+/**
+ * @addtogroup BSP
+ * @{
+ */
+
+/**
+ * @addtogroup Components
+ * @{
+ */
+
+/**
+ * @defgroup L6470
+ * @brief Tools to manage the L6470 Stepper Motor Driver.
+ * @{
+ */
+
+/**
+ * @defgroup L6470_Exported_Types
+ * @brief L6470 Exported Types.
+ * @{
+ */
+
+/**
+ * @brief The structure to store some features of the L6470 Registers.
+ */
+typedef struct {
+ uint8_t Address; //!< Register Address
+ uint8_t Name[12]; //!< Register Name
+ uint8_t LengthBit; //!< Register Length in bits
+ uint8_t LengthByte; //!< Register Length in bytes
+ uint32_t ResetValue; //!< Register Reset Value
+} sL6470_Register_t;
+
+/**
+ * @brief The structure to store some features of the L6470 Application Commands.
+ */
+typedef struct {
+ uint8_t Mnemonic[12]; //!< AppCmd Mnemonic
+ uint8_t BinaryCode; //!< AppCmd Binary Code
+ uint8_t NrOfParameters; //!< AppCmd number of needed parameters
+} sL6470_ApplicationCommand_t;
+
+/**
+ * @brief The structure to store some features about the L6470 Motor Direction.
+ */
+typedef struct {
+ uint8_t Mnemonic[8]; //!< L6470 Direction Mnemonic
+ uint8_t BinaryCode; //!< L6470 Direction Binary Code
+} sL6470_Direction_t;
+
+/**
+ * @brief The structure to store some features about the action taken with the L6470 ABS_POS register.
+ */
+typedef struct {
+ uint8_t Mnemonic[4]; //!< ACT Mnemonic
+ uint8_t BinaryCode; //!< ACT Binary Code
+} sL6470_ACT_t;
+
+/**
+ * @brief The structure used to store the identifier of the L6470 application
+ * command and its the needed parameters.
+ * @note The data stored into this structure will be used to fill the matrix
+ * used by SPI to send the command to the L6470.
+ */
+typedef struct {
+ eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
+ uint32_t p1; //!< The 1st parameter if needed
+ uint32_t p2; //!< The 2nd parameter if needed
+ uint32_t p3; //!< The 3rd parameter if needed
+} sL6470_AppCmdPkg_t;
+
+/**
+ * @}
+ */ /* End of L6470_Exported_Types */
+
+/**
+ * @brief L6470 driver initialization structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the component's initialization structure, if any, one *
+ * variable per line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int frequency; *
+ * int update_mode; *
+ * } COMPONENT_Init_t; *
+ *----------------------------------------------------------------------------*/
+typedef struct
+{
+ float motorvoltage; //!< motor supply voltage in V
+ float fullstepsperrevolution; //!< min number of steps per revolution for the motor
+ float phasecurrent; //!< max motor phase voltage in A
+ float phasevoltage; //!< max motor phase voltage in V
+ float speed; //!< motor initial speed [step/s]
+ float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
+ float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
+ float maxspeed; //!< motor maximum speed [step/s]
+ float minspeed; //!< motor minimum speed [step/s]
+ float fsspd; //!< motor full-step speed threshold [step/s]
+ float kvalhold; //!< holding kval [V]
+ float kvalrun; //!< constant speed kval [V]
+ float kvalacc; //!< acceleration starting kval [V]
+ float kvaldec; //!< deceleration starting kval [V]
+ float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
+ float stslp; //!< start slope [s/step]
+ float fnslpacc; //!< acceleration final slope [s/step]
+ float fnslpdec; //!< deceleration final slope [s/step]
+ uint8_t kterm; //!< thermal compensation factor (range [0, 15])
+ float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
+ float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
+ uint8_t step_sel; //!< step mode selection
+ uint8_t alarmen; //!< alarm conditions enable
+ uint16_t config; //!< ic configuration
+} L6470_init_t;
+
+/**
+ * @brief L6470 driver data structure definition.
+ */
+/* ACTION --------------------------------------------------------------------*
+ * Declare here the structure of component's data, if any, one variable per *
+ * line without initialization. *
+ * *
+ * Example: *
+ * typedef struct *
+ * { *
+ * int T0_out; *
+ * int T1_out; *
+ * float T0_degC; *
+ * float T1_degC; *
+ * } COMPONENT_Data_t; *
+ *----------------------------------------------------------------------------*/
+typedef struct
+{
+ uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
+ sL6470_Register_t *L6470_Register; //[L6470REGIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Registers (the address, the names, the length in bits, the reset value)
+ sL6470_ApplicationCommand_t *L6470_ApplicationCommand; //[L6470APPCMDIDSIZE]; //!< Array whose elements are a structure in which store information about the L6470 Application Commands (the mnemonic name, the number of needed parameters, the related funtion to call)
+ sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE]; //!< The mnemonic names for the L6470 direction
+ sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE]; //!< Action taken about ABS_POS register
+ sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; //!< To store the identifier of the actual L6470 application command and its the needed parameters
+ uint8_t L6470_DaisyChainSpiTxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the command data that are going to be sent by SPI to the L6470 daisy chain
+ uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
+ eFlagStatus_t L6470_DaisyChain_HalfPrepared; /* = ZERO_F; */ //!< Boolean variable used when more than one L6470 into the daisy chain is going to be addressed for commanding
+ sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
+ sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
+} L6470_Data_t;
+
+
+/* Functions -----------------------------------------------------------------*/
+
+/** @addtogroup BSP
+ * @{
+ */
+
+/** @addtogroup Components
+ * @{
+ */
+
+/** @addtogroup L6470
+ * @{
+ */
+
+/** @defgroup L6470_Imported_Functions L6470_Imported_Functions
+ * @{
+ */
+
+/* ACTION --------------------------------------------------------------------*
+ * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
+ * interrupt related functions), and implement them in a glue-logic file on *
+ * the target environment, for example within the "x_nucleo_board.c" file. *
+ * E.g.: *
+ * extern status_t COMPONENT_IO_Init (void *handle); *
+ * extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
+ * extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
+ * extern void COMPONENT_IO_ITConfig(void); *
+ *----------------------------------------------------------------------------*/
+extern void L6470_DISABLE(void);
+extern void L6470_ENABLE(void);
+extern void L6470_nCS_LOW(void);
+extern void L6470_nCS_HIGH(void);
+extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __L6470_H */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM02A1/ST_INTERFACES.lib Thu Dec 17 14:58:10 2020 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/ST_INTERFACES/#d3c9b33b992c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM02A1/X_NUCLEO_COMMON.lib Thu Dec 17 14:58:10 2020 +0000 @@ -0,0 +1,1 @@ +https://developer.mbed.org/teams/ST/code/X_NUCLEO_COMMON/#21096473f63e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/X_NUCLEO_IHM02A1/mbed-os.lib Thu Dec 17 14:58:10 2020 +0000 @@ -0,0 +1,1 @@ +https://github.com/armmbed/mbed-os/