ching-yang Trui / X_NUCLEO_IHM02A1

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Dependencies:   ST_INTERFACES X_NUCLEO_COMMON

Dependents:   selfbalansingcar

Fork of X_NUCLEO_IHM02A1 by ST

Components/Common/microstepping_motor.h@1:b78dab6d2c58, 2015-11-25 (annotated)

Committer:
Davidroid
Date:
Wed Nov 25 11:59:37 2015 +0000
Revision:
1:b78dab6d2c58
Parent:
0:92706998571a
Child:
11:1aca63b2f034
+ Implemented all the StepperMotor's APIs.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Davidroid 0:92706998571a 1 /**
Davidroid 0:92706998571a 2 ******************************************************************************
Davidroid 0:92706998571a 3 * @file microstepping_motor.h
Davidroid 0:92706998571a 4 * @author IPD SYSTEM LAB & TECH MKTG
Davidroid 0:92706998571a 5 * @version V0.0.1
Davidroid 0:92706998571a 6 * @date 04-June-2015
Davidroid 0:92706998571a 7 * @brief This file contains all the functions prototypes for the microstepping
Davidroid 0:92706998571a 8 * motor driver with motion engine.
Davidroid 0:92706998571a 9 ******************************************************************************
Davidroid 0:92706998571a 10 * @attention
Davidroid 0:92706998571a 11 *
Davidroid 0:92706998571a 12 * <h2><center>&copy; COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
Davidroid 0:92706998571a 13 *
Davidroid 0:92706998571a 14 * Redistribution and use in source and binary forms, with or without modification,
Davidroid 0:92706998571a 15 * are permitted provided that the following conditions are met:
Davidroid 0:92706998571a 16 * 1. Redistributions of source code must retain the above copyright notice,
Davidroid 0:92706998571a 17 * this list of conditions and the following disclaimer.
Davidroid 0:92706998571a 18 * 2. Redistributions in binary form must reproduce the above copyright notice,
Davidroid 0:92706998571a 19 * this list of conditions and the following disclaimer in the documentation
Davidroid 0:92706998571a 20 * and/or other materials provided with the distribution.
Davidroid 0:92706998571a 21 * 3. Neither the name of STMicroelectronics nor the names of its contributors
Davidroid 0:92706998571a 22 * may be used to endorse or promote products derived from this software
Davidroid 0:92706998571a 23 * without specific prior written permission.
Davidroid 0:92706998571a 24 *
Davidroid 0:92706998571a 25 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
Davidroid 0:92706998571a 26 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
Davidroid 0:92706998571a 27 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
Davidroid 0:92706998571a 28 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
Davidroid 0:92706998571a 29 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
Davidroid 0:92706998571a 30 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
Davidroid 0:92706998571a 31 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
Davidroid 0:92706998571a 32 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
Davidroid 0:92706998571a 33 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
Davidroid 0:92706998571a 34 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Davidroid 0:92706998571a 35 *
Davidroid 0:92706998571a 36 ******************************************************************************
Davidroid 0:92706998571a 37 */
Davidroid 0:92706998571a 38
Davidroid 0:92706998571a 39 /* Define to prevent recursive inclusion -------------------------------------*/
Davidroid 0:92706998571a 40 #ifndef __MICROSTEPPINGMOTOR_H
Davidroid 0:92706998571a 41 #define __MICROSTEPPINGMOTOR_H
Davidroid 0:92706998571a 42
Davidroid 0:92706998571a 43 #ifdef __cplusplus
Davidroid 0:92706998571a 44 extern "C" {
Davidroid 0:92706998571a 45 #endif
Davidroid 0:92706998571a 46
Davidroid 0:92706998571a 47 /* Includes ------------------------------------------------------------------*/
Davidroid 0:92706998571a 48 #include <stdint.h>
Davidroid 0:92706998571a 49 #include "component.h"
Davidroid 0:92706998571a 50
Davidroid 0:92706998571a 51 /** @addtogroup BSP
Davidroid 0:92706998571a 52 * @{
Davidroid 0:92706998571a 53 */
Davidroid 0:92706998571a 54
Davidroid 0:92706998571a 55 /** @addtogroup Components
Davidroid 0:92706998571a 56 * @{
Davidroid 0:92706998571a 57 */
Davidroid 0:92706998571a 58
Davidroid 0:92706998571a 59 /** @defgroup MicrosteppingMotorDriver
Davidroid 0:92706998571a 60 * @{
Davidroid 0:92706998571a 61 */
Davidroid 0:92706998571a 62
Davidroid 0:92706998571a 63 /** @defgroup StepperMotorExportedTypes
Davidroid 0:92706998571a 64 * @{
Davidroid 0:92706998571a 65 */
Davidroid 0:92706998571a 66
Davidroid 0:92706998571a 67 /**
Davidroid 0:92706998571a 68 * @brief The L6470 Registers Identifiers.
Davidroid 0:92706998571a 69 */
Davidroid 0:92706998571a 70 typedef enum {
Davidroid 0:92706998571a 71 L6470_ABS_POS_ID = 0, //!< Current position
Davidroid 0:92706998571a 72 L6470_EL_POS_ID, //!< Electrical position
Davidroid 0:92706998571a 73 L6470_MARK_ID, //!< Mark position
Davidroid 0:92706998571a 74 L6470_SPEED_ID, //!< Current speed
Davidroid 0:92706998571a 75 L6470_ACC_ID, //!< Acceleration
Davidroid 0:92706998571a 76 L6470_DEC_ID, //!< Deceleration
Davidroid 0:92706998571a 77 L6470_MAX_SPEED_ID, //!< Maximum speed
Davidroid 0:92706998571a 78 L6470_MIN_SPEED_ID, //!< Minimum speed
Davidroid 0:92706998571a 79 L6470_FS_SPD_ID, //!< Full-step speed
Davidroid 0:92706998571a 80 L6470_KVAL_HOLD_ID, //!< Holding KVAL
Davidroid 0:92706998571a 81 L6470_KVAL_RUN_ID, //!< Constant speed KVAL
Davidroid 0:92706998571a 82 L6470_KVAL_ACC_ID, //!< Acceleration starting KVAL
Davidroid 0:92706998571a 83 L6470_KVAL_DEC_ID, //!< Deceleration starting KVAL
Davidroid 0:92706998571a 84 L6470_INT_SPEED_ID, //!< Intersect speed
Davidroid 0:92706998571a 85 L6470_ST_SLP_ID, //!< Start slope
Davidroid 0:92706998571a 86 L6470_FN_SLP_ACC_ID, //!< Acceleration final slope
Davidroid 0:92706998571a 87 L6470_FN_SLP_DEC_ID, //!< Deceleration final slope
Davidroid 0:92706998571a 88 L6470_K_THERM_ID, //!< Thermal compensation factor
Davidroid 0:92706998571a 89 L6470_ADC_OUT_ID, //!< ADC output, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 90 L6470_OCD_TH_ID, //!< OCD threshold
Davidroid 0:92706998571a 91 L6470_STALL_TH_ID, //!< STALL threshold
Davidroid 0:92706998571a 92 L6470_STEP_MODE_ID, //!< Step mode
Davidroid 0:92706998571a 93 L6470_ALARM_EN_ID, //!< Alarm enable
Davidroid 0:92706998571a 94 L6470_CONFIG_ID, //!< IC configuration
Davidroid 1:b78dab6d2c58 95 L6470_STATUS_ID //!< Status, (the reset value is according to startup conditions)
Davidroid 0:92706998571a 96 } eL6470_RegId_t;
Davidroid 0:92706998571a 97
Davidroid 0:92706998571a 98 /**
Davidroid 0:92706998571a 99 * @brief The L6470 Application Commands Identifiers.
Davidroid 0:92706998571a 100 */
Davidroid 0:92706998571a 101 typedef enum {
Davidroid 0:92706998571a 102 L6470_NOP_ID = 0, //!< Nothing
Davidroid 0:92706998571a 103 L6470_SETPARAM_ID, //!< Writes VALUE in PARAM register
Davidroid 0:92706998571a 104 L6470_GETPARAM_ID, //!< Returns the stored value in PARAM register
Davidroid 0:92706998571a 105 L6470_RUN_ID, //!< Sets the target speed and the motor direction
Davidroid 0:92706998571a 106 L6470_STEPCLOCK_ID, //!< Puts the device into Step-clock mode and imposes DIR direction
Davidroid 0:92706998571a 107 L6470_MOVE_ID, //!< Makes N_STEP (micro)steps in DIR direction (Not performable when motor is running)
Davidroid 0:92706998571a 108 L6470_GOTO_ID, //!< Brings motor into ABS_POS position (minimum path)
Davidroid 0:92706998571a 109 L6470_GOTODIR_ID, //!< Brings motor into ABS_POS position forcing DIR direction
Davidroid 0:92706998571a 110 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
Davidroid 0:92706998571a 111 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
Davidroid 0:92706998571a 112 L6470_GOHOME_ID, //!< Brings the motor into HOME position
Davidroid 0:92706998571a 113 L6470_GOMARK_ID, //!< Brings the motor into MARK position
Davidroid 0:92706998571a 114 L6470_RESETPOS_ID, //!< Resets the ABS_POS register (set HOME position)
Davidroid 0:92706998571a 115 L6470_RESETDEVICE_ID, //!< Device is reset to power-up conditions
Davidroid 0:92706998571a 116 L6470_SOFTSTOP_ID, //!< Stops motor with a deceleration phase
Davidroid 0:92706998571a 117 L6470_HARDSTOP_ID, //!< Stops motor immediately
Davidroid 0:92706998571a 118 L6470_SOFTHIZ_ID, //!< Puts the bridges into high impedance status after a deceleration phase
Davidroid 0:92706998571a 119 L6470_HARDHIZ_ID, //!< Puts the bridges into high impedance status immediately
Davidroid 0:92706998571a 120 L6470_GETSTATUS_ID //!< Returns the STATUS register value
Davidroid 0:92706998571a 121 } eL6470_AppCmdId_t;
Davidroid 0:92706998571a 122
Davidroid 0:92706998571a 123 /**
Davidroid 0:92706998571a 124 * @brief The L6470 Status Register Flag identifiers.
Davidroid 0:92706998571a 125 */
Davidroid 0:92706998571a 126 typedef enum {
Davidroid 0:92706998571a 127 HiZ_ID = 0, //!< HiZ flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 128 BUSY_ID, //!< BUSY flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 129 SW_F_ID, //!< SW_F flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 130 SW_EVN_ID, //!< SW_EVN flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 131 DIR_ID, //!< DIR flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 132 MOT_STATUS_ID, //!< MOT_STATUS flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 133 NOTPERF_CMD_ID, //!< NOTPERF_CMD flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 134 WRONG_CMD_ID, //!< WRONG_CMD flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 135 UVLO_ID, //!< UVLO flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 136 TH_WRN_ID, //!< TH_WRN flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 137 TH_SD_ID, //!< TH_SD flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 138 OCD_ID, //!< OCD flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 139 STEP_LOSS_A_ID, //!< STEP_LOSS_A flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 140 STEP_LOSS_B_ID, //!< STEP_LOSS_B flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 141 SCK_MOD_ID //!< SCK_MOD flag identifier inside the L6470 Status Register
Davidroid 0:92706998571a 142 } eL6470_StatusRegisterFlagId_t;
Davidroid 0:92706998571a 143
Davidroid 0:92706998571a 144 /**
Davidroid 0:92706998571a 145 * @brief The L6470 Direction identifiers.
Davidroid 0:92706998571a 146 */
Davidroid 0:92706998571a 147 typedef enum {
Davidroid 0:92706998571a 148 L6470_DIR_REV_ID = 0, //!< Reverse direction
Davidroid 0:92706998571a 149 L6470_DIR_FWD_ID //!< Forward direction
Davidroid 0:92706998571a 150 } eL6470_DirId_t;
Davidroid 0:92706998571a 151
Davidroid 0:92706998571a 152 /**
Davidroid 0:92706998571a 153 * @brief The L6470 Action identifiers about ABS_POS register.
Davidroid 0:92706998571a 154 */
Davidroid 0:92706998571a 155 typedef enum {
Davidroid 0:92706998571a 156 L6470_ACT_RST_ID = 0, //!< ABS_POS register is reset
Davidroid 0:92706998571a 157 L6470_ACT_CPY_ID //!< ABS_POS register value is copied into the MARK register
Davidroid 0:92706998571a 158 } eL6470_ActId_t;
Davidroid 0:92706998571a 159
Davidroid 0:92706998571a 160 /**
Davidroid 0:92706998571a 161 * @brief The L6470 Status Register Flag states.
Davidroid 0:92706998571a 162 */
Davidroid 0:92706998571a 163 typedef enum {
Davidroid 0:92706998571a 164 ZERO_F = 0, //!< The flag is '0'
Davidroid 0:92706998571a 165 ONE_F = !ZERO_F //!< The flag is '1'
Davidroid 0:92706998571a 166 } eFlagStatus_t;
Davidroid 0:92706998571a 167
Davidroid 0:92706998571a 168 /**
Davidroid 0:92706998571a 169 * @brief The L6470 Motor Directions.
Davidroid 0:92706998571a 170 */
Davidroid 0:92706998571a 171 typedef enum {
Davidroid 0:92706998571a 172 REVERSE_F = 0, //!< Reverse motor direction
Davidroid 0:92706998571a 173 FORWARD_F = !REVERSE_F //!< Forward motor direction
Davidroid 0:92706998571a 174 } eMotorDirection_t;
Davidroid 0:92706998571a 175
Davidroid 0:92706998571a 176 /**
Davidroid 0:92706998571a 177 * @brief The L6470 Motor Status.
Davidroid 0:92706998571a 178 */
Davidroid 0:92706998571a 179 typedef enum {
Davidroid 0:92706998571a 180 STOPPED_F = 0, //!< Stopped
Davidroid 0:92706998571a 181 ACCELERATION_F = 1, //!< Acceleration
Davidroid 0:92706998571a 182 DECELERATION_F = 2, //!< Deceleration
Davidroid 0:92706998571a 183 CONSTANTSPEED_F = 3 //!< Constant speed
Davidroid 0:92706998571a 184 } eMotorStatus_t;
Davidroid 0:92706998571a 185
Davidroid 0:92706998571a 186 /**
Davidroid 0:92706998571a 187 * @brief The possible stepping modes for L6470.
Davidroid 0:92706998571a 188 */
Davidroid 0:92706998571a 189 typedef enum
Davidroid 0:92706998571a 190 {
Davidroid 0:92706998571a 191 FULL_STEP = 0x00, //!< Full-step
Davidroid 0:92706998571a 192 HALF_STEP = 0x01, //!< Half-step
Davidroid 0:92706998571a 193 MICROSTEP_1_4 = 0x02, //!< 1/4 microstep
Davidroid 0:92706998571a 194 MICROSTEP_1_8 = 0x03, //!< 1/8 microstep
Davidroid 0:92706998571a 195 MICROSTEP_1_16 = 0x04, //!< 1/16 microstep
Davidroid 0:92706998571a 196 MICROSTEP_1_32 = 0x05, //!< 1/32 microstep
Davidroid 0:92706998571a 197 MICROSTEP_1_64 = 0x06, //!< 1/64 microstep
Davidroid 0:92706998571a 198 MICROSTEP_1_128 = 0x07 //!< 1/128 microstep
Davidroid 0:92706998571a 199 } eMotorStepMode_t;
Davidroid 0:92706998571a 200
Davidroid 0:92706998571a 201 /**
Davidroid 0:92706998571a 202 * @brief The identifiers for the possible L6470 alarm conditions.
Davidroid 0:92706998571a 203 */
Davidroid 0:92706998571a 204 typedef enum
Davidroid 0:92706998571a 205 {
Davidroid 0:92706998571a 206 L6470_OVERCURRENT = 0x01, //!< Overcurrent
Davidroid 0:92706998571a 207 L6470_THERMAL_SHUTDOWN = 0x02, //!< Thermal shutdown
Davidroid 0:92706998571a 208 L6470_THERMAL_WARNING = 0x04, //!< Thermal warning
Davidroid 0:92706998571a 209 L6470_UNDERVOLTAGE = 0x08, //!< Undervoltage
Davidroid 0:92706998571a 210 L6470_STALL_DETECTION_A = 0x10, //!< Stall detection (Bridge A)
Davidroid 0:92706998571a 211 L6470_STALL_DETECTION_B = 0x20, //!< Stall detection (Bridge B)
Davidroid 0:92706998571a 212 L6470_SWITCH_TURN_ON_EVENT = 0x40, //!< Switch turn-on event
Davidroid 0:92706998571a 213 L6470_WRONG_OR_NON_PERFORMABLE_COMMAND = 0x80 //!< Wrong or non-performable command
Davidroid 0:92706998571a 214 } eL6470_AlarmCondition_t;
Davidroid 0:92706998571a 215
Davidroid 0:92706998571a 216 /**
Davidroid 0:92706998571a 217 * @brief The L6470 STEP_MODE Register (see L6470 DataSheet for more details).
Davidroid 0:92706998571a 218 */
Davidroid 0:92706998571a 219 typedef struct {
Davidroid 0:92706998571a 220 uint8_t STEP_SEL: 3; //!< Step mode
Davidroid 0:92706998571a 221 uint8_t WRT: 1; //!< When the register is written, this bit should be set to 0.
Davidroid 0:92706998571a 222 uint8_t SYNC_SEL: 3; //!< Synchronization selection
Davidroid 0:92706998571a 223 uint8_t SYNC_EN: 1; //!< Synchronization enable
Davidroid 0:92706998571a 224 } sL6470_StepModeRegister_t;
Davidroid 0:92706998571a 225
Davidroid 0:92706998571a 226 /**
Davidroid 0:92706998571a 227 * @brief The L6470 ALARM_EN Register (see L6470 DataSheet for more details).
Davidroid 0:92706998571a 228 */
Davidroid 0:92706998571a 229 typedef struct {
Davidroid 0:92706998571a 230 uint8_t OCD_EN: 1; //!< Overcurrent
Davidroid 0:92706998571a 231 uint8_t TH_SD_EN: 1; //!< Thermal shutdown
Davidroid 0:92706998571a 232 uint8_t TH_WRN_EN: 1; //!< Thermal warning
Davidroid 0:92706998571a 233 uint8_t UVLO_EN: 1; //!< Undervoltage
Davidroid 0:92706998571a 234 uint8_t STEP_LOSS_A_EN: 1; //!< Stall detection (Bridge A)
Davidroid 0:92706998571a 235 uint8_t STEP_LOSS_B_EN: 1; //!< Stall detection (Bridge B)
Davidroid 0:92706998571a 236 uint8_t SW_EVN_EN: 1; //!< Switch turn-on event
Davidroid 0:92706998571a 237 uint8_t WRONG_NOTPERF_CMD_EN: 1; //!< Wrong or non-performable command
Davidroid 0:92706998571a 238 } sL6470_AlarmEnRegister_t;
Davidroid 0:92706998571a 239
Davidroid 0:92706998571a 240 /**
Davidroid 0:92706998571a 241 * @brief The L6470 CONFIG Register (see L6470 DataSheet for more details).
Davidroid 0:92706998571a 242 */
Davidroid 0:92706998571a 243 typedef struct {
Davidroid 0:92706998571a 244 uint8_t OSC_SEL: 3; //!< Oscillator Selection
Davidroid 0:92706998571a 245 uint8_t EXT_CLK: 1; //!< External Clock
Davidroid 0:92706998571a 246 uint8_t SW_MODE: 1; //!< Switch mode
Davidroid 0:92706998571a 247 uint8_t EN_VSCOMP: 1; //!< Motor supply voltage compensation
Davidroid 0:92706998571a 248 uint8_t RESERVED: 1; //!< RESERVED
Davidroid 0:92706998571a 249 uint8_t OC_SD: 1; //!< Overcurrent event
Davidroid 0:92706998571a 250 uint8_t POW_SR: 2; //!< Output slew rate
Davidroid 0:92706998571a 251 uint8_t F_PWM_DEC: 3; //!< Multiplication factor
Davidroid 0:92706998571a 252 uint8_t F_PWM_INT: 3; //!< Integer division factor
Davidroid 0:92706998571a 253 } sL6470_ConfigRegister_t;
Davidroid 0:92706998571a 254
Davidroid 0:92706998571a 255 /**
Davidroid 0:92706998571a 256 * @brief The L6470 STATUS Register (see L6470 DataSheet for more details).
Davidroid 0:92706998571a 257 */
Davidroid 0:92706998571a 258 typedef struct {
Davidroid 0:92706998571a 259 uint8_t HiZ: 1; //!< The bridges are in high impedance state (the flag is active high)
Davidroid 0:92706998571a 260 uint8_t BUSY: 1; //!< BUSY pin status (the flag is active low)
Davidroid 0:92706998571a 261 uint8_t SW_F: 1; //!< SW input status (the flag is low for open and high for closed)
Davidroid 0:92706998571a 262 uint8_t SW_EVN: 1; //!< Switch turn-on event (the flag is active high)
Davidroid 0:92706998571a 263 uint8_t DIR: 1; //!< The current motor direction (1 as forward, 0 as reverse)
Davidroid 0:92706998571a 264 uint8_t MOT_STATUS: 2; //!< The current motor status (0 as stopped, 1 as acceleration, 2 as deceleration, 3 as constant speed)
Davidroid 0:92706998571a 265 uint8_t NOTPERF_CMD: 1; //!< The command received by SPI cannot be performed (the flag is active high)
Davidroid 0:92706998571a 266 uint8_t WRONG_CMD: 1; //!< The command received by SPI does not exist at all (the flag is active high)
Davidroid 0:92706998571a 267 uint8_t UVLO: 1; //!< Undervoltage lockout or reset events (the flag is active low)
Davidroid 0:92706998571a 268 uint8_t TH_WRN: 1; //!< Thermal warning event (the flag is active low)
Davidroid 0:92706998571a 269 uint8_t TH_SD: 1; //!< Thermal shutdown event (the flag is active low)
Davidroid 0:92706998571a 270 uint8_t OCD: 1; //!< Overcurrent detection event (the flag is active low)
Davidroid 0:92706998571a 271 uint8_t STEP_LOSS_A: 1; //!< Stall detection on bridge A (the flag is active low)
Davidroid 0:92706998571a 272 uint8_t STEP_LOSS_B: 1; //!< Stall detection on bridge B (the flag is active low)
Davidroid 0:92706998571a 273 uint8_t SCK_MOD: 1; //!< Step-clock mode (the flag is active high)
Davidroid 0:92706998571a 274 } sL6470_StatusRegister_t;
Davidroid 0:92706998571a 275
Davidroid 0:92706998571a 276 /**
Davidroid 0:92706998571a 277 * @brief Motor Parameter Data
Davidroid 0:92706998571a 278 */
Davidroid 0:92706998571a 279 typedef struct
Davidroid 0:92706998571a 280 {
Davidroid 0:92706998571a 281 float motorvoltage; //!< motor supply voltage in V
Davidroid 0:92706998571a 282 float fullstepsperrevolution; //!< min number of steps per revolution for the motor
Davidroid 0:92706998571a 283 float phasecurrent; //!< max motor phase voltage in A
Davidroid 0:92706998571a 284 float phasevoltage; //!< max motor phase voltage in V
Davidroid 0:92706998571a 285 float speed; //!< motor initial speed [step/s]
Davidroid 0:92706998571a 286 float acc; //!< motor acceleration [step/s^2] (comment for infinite acceleration mode)
Davidroid 0:92706998571a 287 float dec; //!< motor deceleration [step/s^2] (comment for infinite deceleration mode)
Davidroid 0:92706998571a 288 float maxspeed; //!< motor maximum speed [step/s]
Davidroid 0:92706998571a 289 float minspeed; //!< motor minimum speed [step/s]
Davidroid 0:92706998571a 290 float fsspd; //!< motor full-step speed threshold [step/s]
Davidroid 0:92706998571a 291 float kvalhold; //!< holding kval [V]
Davidroid 0:92706998571a 292 float kvalrun; //!< constant speed kval [V]
Davidroid 0:92706998571a 293 float kvalacc; //!< acceleration starting kval [V]
Davidroid 0:92706998571a 294 float kvaldec; //!< deceleration starting kval [V]
Davidroid 0:92706998571a 295 float intspeed; //!< intersect speed for bemf compensation curve slope changing [step/s]
Davidroid 0:92706998571a 296 float stslp; //!< start slope [s/step]
Davidroid 0:92706998571a 297 float fnslpacc; //!< acceleration final slope [s/step]
Davidroid 0:92706998571a 298 float fnslpdec; //!< deceleration final slope [s/step]
Davidroid 0:92706998571a 299 uint8_t kterm; //!< thermal compensation factor (range [0, 15])
Davidroid 0:92706998571a 300 float ocdth; //!< ocd threshold [ma] (range [375 ma, 6000 ma])
Davidroid 0:92706998571a 301 float stallth; //!< stall threshold [ma] (range [31.25 ma, 4000 ma])
Davidroid 0:92706998571a 302 uint8_t step_sel; //!< step mode selection
Davidroid 0:92706998571a 303 uint8_t alarmen; //!< alarm conditions enable
Davidroid 0:92706998571a 304 uint16_t config; //!< ic configuration
Davidroid 0:92706998571a 305 } MICROSTEPPING_MOTOR_InitTypeDef;
Davidroid 0:92706998571a 306
Davidroid 0:92706998571a 307 /**
Davidroid 0:92706998571a 308 * @brief Stepper Motor Registers
Davidroid 0:92706998571a 309 */
Davidroid 0:92706998571a 310 typedef struct
Davidroid 0:92706998571a 311 {
Davidroid 0:92706998571a 312 uint32_t ABS_POS; //!< CurrentPosition Register
Davidroid 0:92706998571a 313 uint16_t EL_POS; //!< ElectricalPosition Register
Davidroid 0:92706998571a 314 uint32_t MARK; //!< MarkPosition Register
Davidroid 0:92706998571a 315 uint32_t SPEED; //!< CurrentSpeed Register
Davidroid 0:92706998571a 316 uint16_t ACC; //!< Acceleration Register
Davidroid 0:92706998571a 317 uint16_t DEC; //!< Deceleration Register
Davidroid 0:92706998571a 318 uint16_t MAX_SPEED; //!< MaximumSpeed Register
Davidroid 0:92706998571a 319 uint16_t MIN_SPEED; //!< MinimumSpeed Register
Davidroid 0:92706998571a 320 uint16_t FS_SPD; //!< FullStepSpeed Register
Davidroid 0:92706998571a 321 uint8_t KVAL_HOLD; //!< HoldingKval Register
Davidroid 0:92706998571a 322 uint8_t KVAL_RUN; //!< ConstantSpeedKval Register
Davidroid 0:92706998571a 323 uint8_t KVAL_ACC; //!< AccelerationStartingKval Register
Davidroid 0:92706998571a 324 uint8_t KVAL_DEC; //!< DecelerationStartingKval Register
Davidroid 0:92706998571a 325 uint16_t INT_SPEED; //!< IntersectSpeed Register
Davidroid 0:92706998571a 326 uint8_t ST_SLP; //!< StartSlope Register
Davidroid 0:92706998571a 327 uint8_t FN_SLP_ACC; //!< AccelerationFinalSlope Register
Davidroid 0:92706998571a 328 uint8_t FN_SLP_DEC; //!< DecelerationFinalSlope Register
Davidroid 0:92706998571a 329 uint8_t K_THERM; //!< ThermalCompensationFactor Register
Davidroid 0:92706998571a 330 uint8_t ADC_OUT; //!< AdcOutput Register
Davidroid 0:92706998571a 331 uint8_t OCD_TH; //!< OcdThreshold Register
Davidroid 0:92706998571a 332 uint8_t STALL_TH; //!< StallThreshold Register
Davidroid 0:92706998571a 333 uint8_t STEP_MODE; //!< StepMode Register
Davidroid 0:92706998571a 334 uint8_t ALARM_EN; //!< AlarmEnable Register
Davidroid 0:92706998571a 335 uint16_t CONFIG; //!< Config Register
Davidroid 0:92706998571a 336 uint16_t STATUS; //!< Status Register
Davidroid 0:92706998571a 337 } StepperMotorRegister_t;
Davidroid 0:92706998571a 338
Davidroid 0:92706998571a 339 /**
Davidroid 0:92706998571a 340 * @brief Stepper Motor Driver Structure
Davidroid 0:92706998571a 341 */
Davidroid 0:92706998571a 342 typedef struct
Davidroid 0:92706998571a 343 {
Davidroid 0:92706998571a 344 /* ACTION ----------------------------------------------------------------*
Davidroid 0:92706998571a 345 * Declare here the component's generic functions. *
Davidroid 0:92706998571a 346 * Tag this group of functions with the " Generic " C-style comment. *
Davidroid 0:92706998571a 347 * A component's interface has to define at least the two generic *
Davidroid 0:92706998571a 348 * functions provided here below within the "Example" section, as the *
Davidroid 0:92706998571a 349 * first and second functions of its Virtual Table. They have to be *
Davidroid 0:92706998571a 350 * specified exactly in the given way. *
Davidroid 0:92706998571a 351 * *
Davidroid 0:92706998571a 352 * Example: *
Davidroid 0:92706998571a 353 * DrvStatusTypeDef (*Init)(void *handle, INTERFACE_InitTypeDef *init); *
Davidroid 0:92706998571a 354 * DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id); *
Davidroid 0:92706998571a 355 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 356 /* Generic */
Davidroid 0:92706998571a 357 DrvStatusTypeDef (*Init)(void *handle, MICROSTEPPING_MOTOR_InitTypeDef *init);
Davidroid 0:92706998571a 358 DrvStatusTypeDef (*ReadID)(void *handle, uint8_t *id);
Davidroid 0:92706998571a 359
Davidroid 0:92706998571a 360 /* ACTION ----------------------------------------------------------------*
Davidroid 0:92706998571a 361 * Declare here the component's specific functions. *
Davidroid 0:92706998571a 362 * Tag this group of functions with the " Specific " C-style comment. *
Davidroid 0:92706998571a 363 * Do not specify any function if not required. *
Davidroid 0:92706998571a 364 * *
Davidroid 0:92706998571a 365 * Example: *
Davidroid 0:92706998571a 366 * DrvStatusTypeDef (*GetValue)(void *handle, float *pfData); *
Davidroid 0:92706998571a 367 *------------------------------------------------------------------------*/
Davidroid 0:92706998571a 368 /* Specific */
Davidroid 0:92706998571a 369 void (*SetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid 0:92706998571a 370 uint32_t (*GetParam)(void *handle, eL6470_RegId_t L6470_RegId);
Davidroid 0:92706998571a 371 void (*Run)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 372 void (*StepClock)(void *handle, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 373 void (*Move)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid 0:92706998571a 374 void (*GoTo)(void *handle, uint32_t AbsPos);
Davidroid 0:92706998571a 375 void (*GoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid 0:92706998571a 376 void (*GoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 377 void (*ReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 378 void (*GoHome)(void *handle);
Davidroid 0:92706998571a 379 void (*GoMark)(void *handle);
Davidroid 0:92706998571a 380 void (*ResetPos)(void *handle);
Davidroid 0:92706998571a 381 void (*ResetDevice)(void *handle);
Davidroid 0:92706998571a 382 void (*SoftStop)(void *handle);
Davidroid 0:92706998571a 383 void (*HardStop)(void *handle);
Davidroid 0:92706998571a 384 void (*SoftHiZ)(void *handle);
Davidroid 0:92706998571a 385 void (*HardHiZ)(void *handle);
Davidroid 0:92706998571a 386 uint16_t (*GetStatus)(void *handle);
Davidroid 0:92706998571a 387 void (*PrepareSetParam)(void *handle, eL6470_RegId_t L6470_RegId, uint32_t Value);
Davidroid 0:92706998571a 388 void (*PrepareGetParam)(void *handle, eL6470_RegId_t L6470_RegId);
Davidroid 0:92706998571a 389 void (*PrepareRun)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 390 void (*PrepareStepClock)(void *handle, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 391 void (*PrepareMove)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t N_Step);
Davidroid 0:92706998571a 392 void (*PrepareGoTo)(void *handle, uint32_t AbsPos);
Davidroid 0:92706998571a 393 void (*PrepareGoToDir)(void *handle, eL6470_DirId_t L6470_DirId, uint32_t AbsPos);
Davidroid 0:92706998571a 394 void (*PrepareGoUntil)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId, uint32_t Speed);
Davidroid 0:92706998571a 395 void (*PrepareReleaseSW)(void *handle, eL6470_ActId_t L6470_ActId, eL6470_DirId_t L6470_DirId);
Davidroid 0:92706998571a 396 void (*PrepareGoHome)(void *handle);
Davidroid 0:92706998571a 397 void (*PrepareGoMark)(void *handle);
Davidroid 0:92706998571a 398 void (*PrepareResetPos)(void *handle);
Davidroid 0:92706998571a 399 void (*PrepareResetDevice)(void *handle);
Davidroid 0:92706998571a 400 void (*PrepareSoftStop)(void *handle);
Davidroid 0:92706998571a 401 void (*PrepareHardStop)(void *handle);
Davidroid 0:92706998571a 402 void (*PrepareSoftHiZ)(void *handle);
Davidroid 0:92706998571a 403 void (*PrepareHardHiZ)(void *handle);
Davidroid 0:92706998571a 404 void (*PrepareGetStatus)(void *handle);
Davidroid 0:92706998571a 405 uint8_t (*CheckStatusRegisterFlag)(void *handle, uint8_t L6470_StatusRegisterFlagId);
Davidroid 0:92706998571a 406 uint8_t* (*PerformPreparedApplicationCommand)(void *handle);
Davidroid 0:92706998571a 407 uint8_t* (*GetRegisterName)(void *handle, uint8_t id);
Davidroid 0:92706998571a 408 int32_t (*AbsPos_2_Position)(void *handle, uint32_t AbsPos);
Davidroid 0:92706998571a 409 uint32_t (*Position_2_AbsPos)(void *handle, int32_t Position);
Davidroid 0:92706998571a 410 float (*Speed_2_Step_s)(void *handle, uint32_t Speed);
Davidroid 0:92706998571a 411 uint32_t (*Step_s_2_Speed)(void *handle, float Step_s);
Davidroid 0:92706998571a 412 float (*Acc_2_Step_s2)(void *handle, uint16_t Acc);
Davidroid 0:92706998571a 413 uint16_t (*Step_s2_2_Acc)(void *handle, float Step_s2);
Davidroid 0:92706998571a 414 float (*Dec_2_Step_s2)(void *handle, uint16_t Dec);
Davidroid 0:92706998571a 415 uint16_t (*Step_s2_2_Dec)(void *handle, float Step_s2);
Davidroid 0:92706998571a 416 float (*MaxSpeed_2_Step_s)(void *handle, uint16_t MaxSpeed);
Davidroid 0:92706998571a 417 uint16_t (*Step_s_2_MaxSpeed)(void *handle, float Step_s);
Davidroid 0:92706998571a 418 float (*MinSpeed_2_Step_s)(void *handle, uint16_t MinSpeed);
Davidroid 0:92706998571a 419 uint16_t (*Step_s_2_MinSpeed)(void *handle, float Step_s);
Davidroid 0:92706998571a 420 float (*FsSpd_2_Step_s)(void *handle, uint16_t FsSpd);
Davidroid 0:92706998571a 421 uint16_t (*Step_s_2_FsSpd)(void *handle, float Step_s);
Davidroid 0:92706998571a 422 float (*IntSpeed_2_Step_s)(void *handle, uint16_t IntSpeed);
Davidroid 0:92706998571a 423 uint16_t (*Step_s_2_IntSpeed)(void *handle, float Step_s);
Davidroid 0:92706998571a 424 float (*StSlp_2_s_Step)(void *handle, uint8_t StSlp);
Davidroid 0:92706998571a 425 uint8_t (*s_Step_2_StSlp)(void *handle, float s_Step);
Davidroid 0:92706998571a 426 float (*FnSlpAcc_2_s_Step)(void *handle, uint8_t FnSlpAcc);
Davidroid 0:92706998571a 427 uint8_t (*s_Step_2_FnSlpAcc)(void *handle, float s_Step);
Davidroid 0:92706998571a 428 float (*FnSlpDec_2_s_Step)(void *handle, uint8_t FnSlpDec);
Davidroid 0:92706998571a 429 uint8_t (*s_Step_2_FnSlpDec)(void *handle, float s_Step);
Davidroid 0:92706998571a 430 float (*OcdTh_2_mA)(void *handle, uint8_t OcdTh);
Davidroid 0:92706998571a 431 uint8_t (*mA_2_OcdTh)(void *handle, float mA);
Davidroid 0:92706998571a 432 float (*StallTh_2_mA)(void *handle, uint8_t StallTh);
Davidroid 0:92706998571a 433 uint8_t (*mA_2_StallTh)(void *handle, float mA);
Davidroid 0:92706998571a 434 } MICROSTEPPING_MOTOR_DrvVTableTypeDef;
Davidroid 0:92706998571a 435
Davidroid 0:92706998571a 436 /**
Davidroid 0:92706998571a 437 * @brief Stepper Motor Board Driver Structure
Davidroid 0:92706998571a 438 */
Davidroid 0:92706998571a 439 typedef struct
Davidroid 0:92706998571a 440 {
Davidroid 0:92706998571a 441 void (*SetParam)(uint8_t, uint8_t, eL6470_RegId_t, uint32_t);
Davidroid 0:92706998571a 442 uint32_t (*GetParam)(uint8_t, uint8_t, eL6470_RegId_t);
Davidroid 0:92706998571a 443 void (*Run)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid 0:92706998571a 444 void (*StepClock)(uint8_t, uint8_t, eL6470_DirId_t);
Davidroid 0:92706998571a 445 void (*Move)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid 0:92706998571a 446 void (*GoTo)(uint8_t, uint8_t L6470_Id, uint32_t AbsPos);
Davidroid 0:92706998571a 447 void (*GoToDir)(uint8_t, uint8_t, eL6470_DirId_t, uint32_t);
Davidroid 0:92706998571a 448 void (*GoUntil)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t, uint32_t);
Davidroid 0:92706998571a 449 void (*ReleaseSW)(uint8_t, uint8_t, eL6470_ActId_t, eL6470_DirId_t);
Davidroid 0:92706998571a 450 void (*GoHome)(uint8_t, uint8_t);
Davidroid 0:92706998571a 451 void (*GoMark)(uint8_t, uint8_t);
Davidroid 0:92706998571a 452 void (*ResetPos)(uint8_t, uint8_t);
Davidroid 0:92706998571a 453 void (*ResetDevice)(uint8_t, uint8_t);
Davidroid 0:92706998571a 454 void (*SoftStop)(uint8_t, uint8_t);
Davidroid 0:92706998571a 455 void (*HardStop)(uint8_t, uint8_t);
Davidroid 0:92706998571a 456 void (*SoftHiZ)(uint8_t, uint8_t);
Davidroid 0:92706998571a 457 void (*HardHiZ)(uint8_t, uint8_t);
Davidroid 0:92706998571a 458 uint16_t (*GetStatus)(uint8_t, uint8_t);
Davidroid 0:92706998571a 459 uint8_t (*CheckStatusRegisterFlag)(uint8_t, uint8_t, uint8_t);
Davidroid 0:92706998571a 460 uint8_t* (*PerformPreparedApplicationCommand)(uint8_t);
Davidroid 0:92706998571a 461 } MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef;
Davidroid 0:92706998571a 462
Davidroid 0:92706998571a 463 /**
Davidroid 0:92706998571a 464 * @brief Stepper Motor Handle Structure
Davidroid 0:92706998571a 465 */
Davidroid 0:92706998571a 466 typedef struct __StepperMotorDriver_HandleTypeDef
Davidroid 0:92706998571a 467 {
Davidroid 0:92706998571a 468 uint8_t DaisyChainPosition;
Davidroid 0:92706998571a 469 void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
Davidroid 0:92706998571a 470 MICROSTEPPING_MOTOR_DrvVTableTypeDef *Command;
Davidroid 0:92706998571a 471 } StepperMotorDriverHandle_t;
Davidroid 0:92706998571a 472
Davidroid 0:92706998571a 473 /**
Davidroid 0:92706998571a 474 * @brief Stepper Motor Handle Structure
Davidroid 0:92706998571a 475 */
Davidroid 0:92706998571a 476 typedef struct __StepperMotorBoard_HandleTypeDef
Davidroid 0:92706998571a 477 {
Davidroid 0:92706998571a 478 uint8_t StackedPosition;
Davidroid 0:92706998571a 479 void (*Config)(MICROSTEPPING_MOTOR_InitTypeDef*);
Davidroid 0:92706998571a 480 MICROSTEPPING_MOTOR_EB_DrvVTableTypeDef *Command;
Davidroid 0:92706998571a 481 StepperMotorDriverHandle_t *StepperMotorDriverHandle[2];
Davidroid 0:92706998571a 482 uint8_t (*Select)(uint8_t);
Davidroid 0:92706998571a 483 } StepperMotorBoardHandle_t;
Davidroid 0:92706998571a 484
Davidroid 0:92706998571a 485 /**
Davidroid 0:92706998571a 486 * @}
Davidroid 0:92706998571a 487 */ /* StepperMotorExportedTypes */
Davidroid 0:92706998571a 488
Davidroid 0:92706998571a 489 /**
Davidroid 0:92706998571a 490 * @}
Davidroid 0:92706998571a 491 */ /* MicrosteppingMotorDriver */
Davidroid 0:92706998571a 492
Davidroid 0:92706998571a 493 /**
Davidroid 0:92706998571a 494 * @}
Davidroid 0:92706998571a 495 */ /* Components */
Davidroid 0:92706998571a 496
Davidroid 0:92706998571a 497 /**
Davidroid 0:92706998571a 498 * @}
Davidroid 0:92706998571a 499 */ /* BSP */
Davidroid 0:92706998571a 500
Davidroid 0:92706998571a 501 #ifdef __cplusplus
Davidroid 0:92706998571a 502 }
Davidroid 0:92706998571a 503 #endif
Davidroid 0:92706998571a 504
Davidroid 0:92706998571a 505 #endif /* __MICROSTEPPINGMOTOR_H */
Davidroid 0:92706998571a 506
Davidroid 0:92706998571a 507 /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/