ching-yang Trui / X_NUCLEO_IHM02A1

motor board library

Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   selfbalansingcar

Fork of X_NUCLEO_IHM02A1 by ST

Components/L6470/L6470_def.h@25:66409b9ed27c, 2018-04-04 (annotated)

Committer:
yong304
Date:
Wed Apr 04 08:24:33 2018 +0000
Revision:
25:66409b9ed27c
Parent:
23:cf489f2ab072 
selfbalancecar unfinish;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
davide.aliprandi@st.com 22:ba7f4131a5e0 1 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 2 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 3 * @file L6470_def.h
davide.aliprandi@st.com 22:ba7f4131a5e0 4 * @date 01/10/2014 12:00:00
davide.aliprandi@st.com 22:ba7f4131a5e0 5 * @brief This file contains definitions, exported variables and function
davide.aliprandi@st.com 22:ba7f4131a5e0 6 * prototypes related to the L6470.
davide.aliprandi@st.com 22:ba7f4131a5e0 7 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 8 *
davide.aliprandi@st.com 22:ba7f4131a5e0 9 * COPYRIGHT(c) 2014 STMicroelectronics
davide.aliprandi@st.com 22:ba7f4131a5e0 10 *
davide.aliprandi@st.com 22:ba7f4131a5e0 11 * Redistribution and use in source and binary forms, with or without modification,
davide.aliprandi@st.com 22:ba7f4131a5e0 12 * are permitted provided that the following conditions are met:
davide.aliprandi@st.com 22:ba7f4131a5e0 13 * 1. Redistributions of source code must retain the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 14 * this list of conditions and the following disclaimer.
davide.aliprandi@st.com 22:ba7f4131a5e0 15 * 2. Redistributions in binary form must reproduce the above copyright notice,
davide.aliprandi@st.com 22:ba7f4131a5e0 16 * this list of conditions and the following disclaimer in the documentation
davide.aliprandi@st.com 22:ba7f4131a5e0 17 * and/or other materials provided with the distribution.
davide.aliprandi@st.com 22:ba7f4131a5e0 18 * 3. Neither the name of STMicroelectronics nor the names of its contributors
davide.aliprandi@st.com 22:ba7f4131a5e0 19 * may be used to endorse or promote products derived from this software
davide.aliprandi@st.com 22:ba7f4131a5e0 20 * without specific prior written permission.
davide.aliprandi@st.com 22:ba7f4131a5e0 21 *
davide.aliprandi@st.com 22:ba7f4131a5e0 22 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
davide.aliprandi@st.com 22:ba7f4131a5e0 23 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
davide.aliprandi@st.com 22:ba7f4131a5e0 24 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
davide.aliprandi@st.com 22:ba7f4131a5e0 25 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
davide.aliprandi@st.com 22:ba7f4131a5e0 26 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
davide.aliprandi@st.com 22:ba7f4131a5e0 27 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
davide.aliprandi@st.com 22:ba7f4131a5e0 28 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
davide.aliprandi@st.com 22:ba7f4131a5e0 29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
davide.aliprandi@st.com 22:ba7f4131a5e0 30 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
davide.aliprandi@st.com 22:ba7f4131a5e0 31 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
davide.aliprandi@st.com 22:ba7f4131a5e0 32 *
davide.aliprandi@st.com 22:ba7f4131a5e0 33 ******************************************************************************
davide.aliprandi@st.com 22:ba7f4131a5e0 34 */
davide.aliprandi@st.com 22:ba7f4131a5e0 35
davide.aliprandi@st.com 22:ba7f4131a5e0 36
davide.aliprandi@st.com 22:ba7f4131a5e0 37 /* Define to prevent recursive inclusion -------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 38
davide.aliprandi@st.com 22:ba7f4131a5e0 39 #ifndef __L6470_H
davide.aliprandi@st.com 22:ba7f4131a5e0 40 #define __L6470_H
davide.aliprandi@st.com 22:ba7f4131a5e0 41
davide.aliprandi@st.com 22:ba7f4131a5e0 42 #ifdef __cplusplus
davide.aliprandi@st.com 22:ba7f4131a5e0 43 extern "C" {
davide.aliprandi@st.com 22:ba7f4131a5e0 44 #endif
davide.aliprandi@st.com 22:ba7f4131a5e0 45
davide.aliprandi@st.com 22:ba7f4131a5e0 46
davide.aliprandi@st.com 22:ba7f4131a5e0 47 /* Includes ------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 48
davide.aliprandi@st.com 22:ba7f4131a5e0 49 #include "../Common/microstepping_motor_def.h"
davide.aliprandi@st.com 22:ba7f4131a5e0 50
davide.aliprandi@st.com 22:ba7f4131a5e0 51
davide.aliprandi@st.com 22:ba7f4131a5e0 52 /* Definitions ---------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 53
davide.aliprandi@st.com 22:ba7f4131a5e0 54 /** @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 55 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 56 */
davide.aliprandi@st.com 22:ba7f4131a5e0 57
davide.aliprandi@st.com 22:ba7f4131a5e0 58 /** @addtogroup Components
davide.aliprandi@st.com 22:ba7f4131a5e0 59 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 60 */
davide.aliprandi@st.com 22:ba7f4131a5e0 61
davide.aliprandi@st.com 22:ba7f4131a5e0 62 /** @addtogroup L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 63 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 64 */
davide.aliprandi@st.com 22:ba7f4131a5e0 65
davide.aliprandi@st.com 22:ba7f4131a5e0 66 /** @defgroup L6470_Exported_Defines L6470_Exported_Defines
davide.aliprandi@st.com 22:ba7f4131a5e0 67 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 68 */
davide.aliprandi@st.com 22:ba7f4131a5e0 69
davide.aliprandi@st.com 22:ba7f4131a5e0 70 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 71 * @defgroup L6470_Exported_Constants
davide.aliprandi@st.com 22:ba7f4131a5e0 72 * @brief L6470 Exported Constants.
davide.aliprandi@st.com 22:ba7f4131a5e0 73 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 74 */
davide.aliprandi@st.com 22:ba7f4131a5e0 75
davide.aliprandi@st.com 22:ba7f4131a5e0 76 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 77 * @defgroup L6470_Register_Max_Values
davide.aliprandi@st.com 22:ba7f4131a5e0 78 * @brief Maximum values for L6470 registers.
davide.aliprandi@st.com 22:ba7f4131a5e0 79 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 80 */
davide.aliprandi@st.com 22:ba7f4131a5e0 81
davide.aliprandi@st.com 22:ba7f4131a5e0 82 #define L6470_MAX_POSITION (0x1FFFFF) //!< Max position
davide.aliprandi@st.com 22:ba7f4131a5e0 83 #define L6470_MIN_POSITION (-(0x200000)) //!< Min position
davide.aliprandi@st.com 22:ba7f4131a5e0 84 #define L6470_POSITION_RANGE ((uint32_t)(L6470_MAX_POSITION - L6470_MIN_POSITION)) //!< Position range
davide.aliprandi@st.com 22:ba7f4131a5e0 85 #define L6470_MAX_SPEED (0xFFFFF) //!< max value of SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 86 #define L6470_MAX_ACC (0xFFF) //!< max value of ACC
davide.aliprandi@st.com 22:ba7f4131a5e0 87 #define L6470_MAX_DEC (0xFFF) //!< max value of DEC
davide.aliprandi@st.com 22:ba7f4131a5e0 88 #define L6470_MAX_MAX_SPEED (0x3FF) //!< max value of MAX_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 89 #define L6470_MAX_MIN_SPEED (0xFFF) //!< max value of MIN_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 90 #define L6470_MAX_FS_SPD (0x3FF) //!< max value of FS_SPD
davide.aliprandi@st.com 22:ba7f4131a5e0 91 #define L6470_MAX_INT_SPEED (0x3FFF) //!< max value of INT_SPEED
davide.aliprandi@st.com 22:ba7f4131a5e0 92 #define L6470_MAX_ST_SLP (0xFF) //!< max value of ST_SLP
davide.aliprandi@st.com 22:ba7f4131a5e0 93 #define L6470_MAX_FN_SLP_ACC (0xFF) //!< max value of FN_SLP_ACC
davide.aliprandi@st.com 22:ba7f4131a5e0 94 #define L6470_MAX_FN_SLP_DEC (0xFF) //!< max value of FN_SLP_DEC
davide.aliprandi@st.com 22:ba7f4131a5e0 95 #define L6470_MAX_OCD_TH (0xF) //!< max value of OCD_TH
davide.aliprandi@st.com 22:ba7f4131a5e0 96 #define L6470_MAX_STALL_TH (0x7F) //!< max value of STALL_TH
davide.aliprandi@st.com 22:ba7f4131a5e0 97
davide.aliprandi@st.com 22:ba7f4131a5e0 98 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 99 * @}
davide.aliprandi@st.com 22:ba7f4131a5e0 100 */ /* End of L6470_Register_Max_Values */
davide.aliprandi@st.com 22:ba7f4131a5e0 101
davide.aliprandi@st.com 22:ba7f4131a5e0 102 #define L6470REGIDSIZE 25 //!< Max number of identifiers of L6470 Registers
davide.aliprandi@st.com 22:ba7f4131a5e0 103 #define L6470APPCMDIDSIZE 19 //!< Max number of identifiers of L6470 Application Commands
davide.aliprandi@st.com 22:ba7f4131a5e0 104 #define L6470DIRIDSIZE 2 //!< Max number of identifiers of L6470 directions
davide.aliprandi@st.com 22:ba7f4131a5e0 105 #define L6470ACTIDSIZE 2 //!< Max number of identifiers of actions to perform about ABS_POS register
davide.aliprandi@st.com 22:ba7f4131a5e0 106 #define L6470MAXSPICMDBYTESIZE 4 //!< Max number of byte to send via SPI to perform an application command
davide.aliprandi@st.com 22:ba7f4131a5e0 107 #define L6470DAISYCHAINSIZE 2 //!< Max number of identifiers of L6470 in daisy chain configuration
davide.aliprandi@st.com 22:ba7f4131a5e0 108
davide.aliprandi@st.com 22:ba7f4131a5e0 109 #define L6470_MAX_SPEED_VALUE ((float)15610) //!< max value for the speed in step/s
davide.aliprandi@st.com 22:ba7f4131a5e0 110 #define L6470_MAX_ACC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 111 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 112 #define L6470_MAX_DEC_VALUE ((float)59590) //!< max value for the acceleration in step/s^2
davide.aliprandi@st.com 22:ba7f4131a5e0 113
davide.aliprandi@st.com 22:ba7f4131a5e0 114 #define OCD_TH_STEP ((float)375) //!< Minimum step for OCD_TH register in mAmpere
davide.aliprandi@st.com 22:ba7f4131a5e0 115 #define STALL_TH_STEP ((float)31.25) //!< Minimum step for STALL_TH register in mAmpere
davide.aliprandi@st.com 22:ba7f4131a5e0 116
davide.aliprandi@st.com 22:ba7f4131a5e0 117 #define L6470_ACC_CONV ((float)0.068719) //!< Conversion factor for acceleration value from step/s^2 to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 118 #define L6470_DEC_CONV ((float)0.068719) //!< Conversion factor for deceleration value from step/s^2 to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 119 #define L6470_MAXSPEED_CONV ((float)0.065536) //!< Conversion factor for max speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 120 #define L6470_MINSPEED_CONV ((float)4.194304) //!< Conversion factor for min speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 121 #define L6470_SPEED_CONV ((float)67.108864) //!< Conversion factor for speed value from step/s to the right value
davide.aliprandi@st.com 22:ba7f4131a5e0 122
davide.aliprandi@st.com 22:ba7f4131a5e0 123
davide.aliprandi@st.com 22:ba7f4131a5e0 124 /* Types ---------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 125
davide.aliprandi@st.com 22:ba7f4131a5e0 126 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 127 * @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 128 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 129 */
davide.aliprandi@st.com 22:ba7f4131a5e0 130
davide.aliprandi@st.com 22:ba7f4131a5e0 131 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 132 * @addtogroup Components
davide.aliprandi@st.com 22:ba7f4131a5e0 133 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 134 */
davide.aliprandi@st.com 22:ba7f4131a5e0 135
davide.aliprandi@st.com 22:ba7f4131a5e0 136 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 137 * @defgroup L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 138 * @brief Tools to manage the L6470 Stepper Motor Driver.
davide.aliprandi@st.com 22:ba7f4131a5e0 139 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 140 */
davide.aliprandi@st.com 22:ba7f4131a5e0 141
davide.aliprandi@st.com 22:ba7f4131a5e0 142 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 143 * @defgroup L6470_Exported_Types
davide.aliprandi@st.com 22:ba7f4131a5e0 144 * @brief L6470 Exported Types.
davide.aliprandi@st.com 22:ba7f4131a5e0 145 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 146 */
davide.aliprandi@st.com 22:ba7f4131a5e0 147
davide.aliprandi@st.com 22:ba7f4131a5e0 148 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 149 * @brief The structure to store some features of the L6470 Registers.
davide.aliprandi@st.com 22:ba7f4131a5e0 150 */
davide.aliprandi@st.com 22:ba7f4131a5e0 151 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 152 uint8_t Address; //!< Register Address
davide.aliprandi@st.com 22:ba7f4131a5e0 153 uint8_t Name[12]; //!< Register Name
davide.aliprandi@st.com 22:ba7f4131a5e0 154 uint8_t LengthBit; //!< Register Length in bits
davide.aliprandi@st.com 22:ba7f4131a5e0 155 uint8_t LengthByte; //!< Register Length in bytes
davide.aliprandi@st.com 22:ba7f4131a5e0 156 uint32_t ResetValue; //!< Register Reset Value
davide.aliprandi@st.com 22:ba7f4131a5e0 157 } sL6470_Register_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 158
davide.aliprandi@st.com 22:ba7f4131a5e0 159 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 160 * @brief The structure to store some features of the L6470 Application Commands.
davide.aliprandi@st.com 22:ba7f4131a5e0 161 */
davide.aliprandi@st.com 22:ba7f4131a5e0 162 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 163 uint8_t Mnemonic[12]; //!< AppCmd Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 164 uint8_t BinaryCode; //!< AppCmd Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 165 uint8_t NrOfParameters; //!< AppCmd number of needed parameters
davide.aliprandi@st.com 22:ba7f4131a5e0 166 } sL6470_ApplicationCommand_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 167
davide.aliprandi@st.com 22:ba7f4131a5e0 168 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 169 * @brief The structure to store some features about the L6470 Motor Direction.
davide.aliprandi@st.com 22:ba7f4131a5e0 170 */
davide.aliprandi@st.com 22:ba7f4131a5e0 171 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 172 uint8_t Mnemonic[8]; //!< L6470 Direction Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 173 uint8_t BinaryCode; //!< L6470 Direction Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 174 } sL6470_Direction_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 175
davide.aliprandi@st.com 22:ba7f4131a5e0 176 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 177 * @brief The structure to store some features about the action taken with the L6470 ABS_POS register.
davide.aliprandi@st.com 22:ba7f4131a5e0 178 */
davide.aliprandi@st.com 22:ba7f4131a5e0 179 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 180 uint8_t Mnemonic[4]; //!< ACT Mnemonic
davide.aliprandi@st.com 22:ba7f4131a5e0 181 uint8_t BinaryCode; //!< ACT Binary Code
davide.aliprandi@st.com 22:ba7f4131a5e0 182 } sL6470_ACT_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 183
davide.aliprandi@st.com 22:ba7f4131a5e0 184 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 185 * @brief The structure used to store the identifier of the L6470 application
davide.aliprandi@st.com 22:ba7f4131a5e0 186 * command and its the needed parameters.
davide.aliprandi@st.com 22:ba7f4131a5e0 187 * @note The data stored into this structure will be used to fill the matrix
davide.aliprandi@st.com 22:ba7f4131a5e0 188 * used by SPI to send the command to the L6470.
davide.aliprandi@st.com 22:ba7f4131a5e0 189 */
davide.aliprandi@st.com 22:ba7f4131a5e0 190 typedef struct {
davide.aliprandi@st.com 22:ba7f4131a5e0 191 eL6470_AppCmdId_t L6470_AppCmdId; //!< The identifier of the actual L6470 Application Command
davide.aliprandi@st.com 22:ba7f4131a5e0 192 uint32_t p1; //!< The 1st parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 193 uint32_t p2; //!< The 2nd parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 194 uint32_t p3; //!< The 3rd parameter if needed
davide.aliprandi@st.com 22:ba7f4131a5e0 195 } sL6470_AppCmdPkg_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 196
davide.aliprandi@st.com 22:ba7f4131a5e0 197 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 198 * @}
davide.aliprandi@st.com 22:ba7f4131a5e0 199 */ /* End of L6470_Exported_Types */
davide.aliprandi@st.com 22:ba7f4131a5e0 200
davide.aliprandi@st.com 22:ba7f4131a5e0 201 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 202 * @brief L6470 driver initialization structure definition.
davide.aliprandi@st.com 22:ba7f4131a5e0 203 */
davide.aliprandi@st.com 22:ba7f4131a5e0 204 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 205 * Declare here the component's initialization structure, if any, one *
davide.aliprandi@st.com 22:ba7f4131a5e0 206 * variable per line without initialization. *
davide.aliprandi@st.com 22:ba7f4131a5e0 207 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 208 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 209 * typedef struct *
davide.aliprandi@st.com 22:ba7f4131a5e0 210 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 211 * int frequency; *
davide.aliprandi@st.com 22:ba7f4131a5e0 212 * int update_mode; *
davide.aliprandi@st.com 22:ba7f4131a5e0 213 * } COMPONENT_Init_t; *
davide.aliprandi@st.com 22:ba7f4131a5e0 214 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 215 typedef struct
davide.aliprandi@st.com 22:ba7f4131a5e0 216 {
davide.aliprandi@st.com 22:ba7f4131a5e0 217 float motorvoltage; //!< motor supply voltage in V
davide.aliprandi@st.com 22:ba7f4131a5e0 218 float fullstepsperrevolution; //!< min number of steps per revolution for the motor
davide.aliprandi@st.com 22:ba7f4131a5e0 219 float phasecurrent; //!< max motor phase voltage in A
davide.aliprandi@st.com 22:ba7f4131a5e0 220 float phasevoltage; //!< max motor phase voltage in V
davide.aliprandi@st.com 22:ba7f4131a5e0 221 float speed; //!< motor initial speed [step/s]
yong304 25:66409b9ed27c 222 // float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
yong304 25:66409b9ed27c 223 // float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
davide.aliprandi@st.com 22:ba7f4131a5e0 224 float maxspeed; //!< motor maximum speed [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 225 float minspeed; //!< motor minimum speed [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 226 float fsspd; //!< motor full-step speed threshold [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 227 float kvalhold; //!< holding kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 228 float kvalrun; //!< constant speed kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 229 float kvalacc; //!< acceleration starting kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 230 float kvaldec; //!< deceleration starting kval [V]
davide.aliprandi@st.com 22:ba7f4131a5e0 231 float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
davide.aliprandi@st.com 22:ba7f4131a5e0 232 float stslp; //!< start slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 233 float fnslpacc; //!< acceleration final slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 234 float fnslpdec; //!< deceleration final slope [s/step]
davide.aliprandi@st.com 22:ba7f4131a5e0 235 uint8_t kterm; //!< thermal compensation factor (range [0, 15])
davide.aliprandi@st.com 22:ba7f4131a5e0 236 float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
davide.aliprandi@st.com 22:ba7f4131a5e0 237 float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
davide.aliprandi@st.com 22:ba7f4131a5e0 238 uint8_t step_sel; //!< step mode selection
davide.aliprandi@st.com 22:ba7f4131a5e0 239 uint8_t alarmen; //!< alarm conditions enable
davide.aliprandi@st.com 22:ba7f4131a5e0 240 uint16_t config; //!< ic configuration
davide.aliprandi@st.com 22:ba7f4131a5e0 241 } L6470_init_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 242
davide.aliprandi@st.com 22:ba7f4131a5e0 243 /**
davide.aliprandi@st.com 22:ba7f4131a5e0 244 * @brief L6470 driver data structure definition.
davide.aliprandi@st.com 22:ba7f4131a5e0 245 */
davide.aliprandi@st.com 22:ba7f4131a5e0 246 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 247 * Declare here the structure of component's data, if any, one variable per *
davide.aliprandi@st.com 22:ba7f4131a5e0 248 * line without initialization. *
davide.aliprandi@st.com 22:ba7f4131a5e0 249 * *
davide.aliprandi@st.com 22:ba7f4131a5e0 250 * Example: *
davide.aliprandi@st.com 22:ba7f4131a5e0 251 * typedef struct *
davide.aliprandi@st.com 22:ba7f4131a5e0 252 * { *
davide.aliprandi@st.com 22:ba7f4131a5e0 253 * int T0_out; *
davide.aliprandi@st.com 22:ba7f4131a5e0 254 * int T1_out; *
davide.aliprandi@st.com 22:ba7f4131a5e0 255 * float T0_degC; *
davide.aliprandi@st.com 22:ba7f4131a5e0 256 * float T1_degC; *
davide.aliprandi@st.com 22:ba7f4131a5e0 257 * } COMPONENT_Data_t; *
davide.aliprandi@st.com 22:ba7f4131a5e0 258 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 259 typedef struct
davide.aliprandi@st.com 22:ba7f4131a5e0 260 {
davide.aliprandi@st.com 22:ba7f4131a5e0 261 uint8_t L6470_Id; //!< The L6470 identifier inside the daisy chain
davide.aliprandi@st.com 22:ba7f4131a5e0 262 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 263 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)
davide.aliprandi@st.com 22:ba7f4131a5e0 264 sL6470_Direction_t *L6470_Direction; //[L6470DIRIDSIZE]; //!< The mnemonic names for the L6470 direction
davide.aliprandi@st.com 22:ba7f4131a5e0 265 sL6470_ACT_t *L6470_ACT; //[L6470ACTIDSIZE]; //!< Action taken about ABS_POS register
davide.aliprandi@st.com 22:ba7f4131a5e0 266 sL6470_AppCmdPkg_t L6470_AppCmdPkg[L6470DAISYCHAINSIZE]; //!< To store the identifier of the actual L6470 application command and its the needed parameters
davide.aliprandi@st.com 22:ba7f4131a5e0 267 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
davide.aliprandi@st.com 22:ba7f4131a5e0 268 uint8_t L6470_DaisyChainSpiRxStruct[L6470MAXSPICMDBYTESIZE][L6470DAISYCHAINSIZE]; //!< To store the matrix that contains the received data by SPI from the L6470 daisy chain
davide.aliprandi@st.com 22:ba7f4131a5e0 269 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
davide.aliprandi@st.com 22:ba7f4131a5e0 270 sL6470_StatusRegister_t L6470_StatusRegister; //!< To store the received L6470_StatusRegister
davide.aliprandi@st.com 22:ba7f4131a5e0 271 sL6470_StatusRegister_t *pL6470_StatusRegister; /* = &L6470_StatusRegister; */ //!< Pointer to the L6470_StatusRegister variable
davide.aliprandi@st.com 22:ba7f4131a5e0 272 } L6470_Data_t;
davide.aliprandi@st.com 22:ba7f4131a5e0 273
davide.aliprandi@st.com 22:ba7f4131a5e0 274
davide.aliprandi@st.com 22:ba7f4131a5e0 275 /* Functions -----------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 276
davide.aliprandi@st.com 22:ba7f4131a5e0 277 /** @addtogroup BSP
davide.aliprandi@st.com 22:ba7f4131a5e0 278 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 279 */
davide.aliprandi@st.com 22:ba7f4131a5e0 280
davide.aliprandi@st.com 22:ba7f4131a5e0 281 /** @addtogroup Components
davide.aliprandi@st.com 22:ba7f4131a5e0 282 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 283 */
davide.aliprandi@st.com 22:ba7f4131a5e0 284
davide.aliprandi@st.com 22:ba7f4131a5e0 285 /** @addtogroup L6470
davide.aliprandi@st.com 22:ba7f4131a5e0 286 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 287 */
davide.aliprandi@st.com 22:ba7f4131a5e0 288
davide.aliprandi@st.com 22:ba7f4131a5e0 289 /** @defgroup L6470_Imported_Functions L6470_Imported_Functions
davide.aliprandi@st.com 22:ba7f4131a5e0 290 * @{
davide.aliprandi@st.com 22:ba7f4131a5e0 291 */
davide.aliprandi@st.com 22:ba7f4131a5e0 292
davide.aliprandi@st.com 22:ba7f4131a5e0 293 /* ACTION --------------------------------------------------------------------*
davide.aliprandi@st.com 22:ba7f4131a5e0 294 * Declare here extern platform-dependent APIs you might need (e.g.: I/O and *
davide.aliprandi@st.com 22:ba7f4131a5e0 295 * interrupt related functions), and implement them in a glue-logic file on *
davide.aliprandi@st.com 22:ba7f4131a5e0 296 * the target environment, for example within the "x_nucleo_board.c" file. *
davide.aliprandi@st.com 22:ba7f4131a5e0 297 * E.g.: *
davide.aliprandi@st.com 22:ba7f4131a5e0 298 * extern status_t COMPONENT_IO_Init (void *handle); *
davide.aliprandi@st.com 22:ba7f4131a5e0 299 * extern status_t COMPONENT_IO_Read (handle, buf, regadd, bytes); *
davide.aliprandi@st.com 22:ba7f4131a5e0 300 * extern status_t COMPONENT_IO_Write(handle, buf, regadd, bytes); *
davide.aliprandi@st.com 22:ba7f4131a5e0 301 * extern void COMPONENT_IO_ITConfig(void); *
davide.aliprandi@st.com 22:ba7f4131a5e0 302 *----------------------------------------------------------------------------*/
davide.aliprandi@st.com 22:ba7f4131a5e0 303 extern void L6470_DISABLE(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 304 extern void L6470_ENABLE(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 305 extern void L6470_nCS_LOW(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 306 extern void L6470_nCS_HIGH(void);
davide.aliprandi@st.com 22:ba7f4131a5e0 307 extern void L6470_SPI_Communication(uint8_t *pTxData, uint8_t *pRxData, uint16_t Size, uint32_t Timeout);
davide.aliprandi@st.com 22:ba7f4131a5e0 308
davide.aliprandi@st.com 22:ba7f4131a5e0 309 #ifdef __cplusplus
davide.aliprandi@st.com 22:ba7f4131a5e0 310 }
davide.aliprandi@st.com 22:ba7f4131a5e0 311 #endif
davide.aliprandi@st.com 22:ba7f4131a5e0 312
davide.aliprandi@st.com 22:ba7f4131a5e0 313 #endif /* __L6470_H */
davide.aliprandi@st.com 22:ba7f4131a5e0 314
davide.aliprandi@st.com 22:ba7f4131a5e0 315 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/